SSModel.hpp

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#ifndef SSMODEL_HPP_
#define SSMODEL_HPP_
#include <Eigen/Dense>
#include <boost/noncopyable.hpp>

namespace labust
{
        namespace navigation
        {
                template <class precission = double>
                class SSModel : boost::noncopyable
                {
                public:
                        typedef precission numericprecission;

                        typedef Eigen::Matrix<precission, Eigen::Dynamic, Eigen::Dynamic> matrix;
                        typedef Eigen::Matrix<precission, Eigen::Dynamic, 1> vector;

                        //typedef boost::numeric::ublas::identity_matrix<precission> eye;
                        //typedef boost::numeric::ublas::zero_vector<precission> zeros;
                        //typedef boost::numeric::ublas::zero_matrix<precission> mzeros;

                        SSModel():Ts(0){};
                        inline void setState(vector x){this->x = x; this->xk_1 = x;}

                        matrix A,B,Q,W,H,R,V,H0,R0,V0;
                        precission Ts;

                protected:
                        vector xk_1,x;
                };
        }
}
/* SSMODEL_HPP_ */
#endif