KalmanFilter.h

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#ifndef SE_KALMANFILTER_H_
#define SE_KALMANFILTER_H_

#include "problib/pdfs/Gaussian.h"

class KalmanFilter {
public:

        KalmanFilter(int dim);

        KalmanFilter(const KalmanFilter& orig);

        virtual KalmanFilter* clone() const;

        virtual ~KalmanFilter();

        virtual void init(const pbl::Gaussian& G);

        void update(const pbl::Gaussian& z);

    virtual void propagate(const double& dt);

        double getLikelihood(const pbl::Gaussian& z) const;

        const pbl::Gaussian& getGaussian() const;

        const pbl::Vector& getState() const;

        const pbl::Matrix& getStateCovariance() const;

        void setMaxAcceleration(double a_max);

protected:

        int meas_dim_;

        int state_dim_;

        pbl::Gaussian G_;

        pbl::Gaussian G_small_;

    pbl::Matrix H_;

        double a_max_;
};

#endif /* KALMANTRACKER_H_ */