KFBase.hpp

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#ifndef KFBASE_HPP_
#define KFBASE_HPP_
#include <stdexcept>

namespace labust
{
        namespace navigation
        {
                template <class Model>
                class KFBase : public Model
                {
                public:
                        typedef const typename Model::matrix& matrixref;
                        typedef const typename Model::vector& vectorref;
                        //For MIMO systems
                        typedef const typename Model::input_type& inputref;
                        typedef const typename Model::output_type& outputref;

                        KFBase(): P(Model::matrix::Identity(Model::stateNum, Model::stateNum)),
                                        outlierR(1.0){};

                        inline void setStateCovariance(matrixref P){this->P = P;};
                        inline matrixref getStateCovariance(){return this->P;};
                        inline matrixref getInovationCovariance(){return this->innovationCov;};
                        inline void setState(vectorref x){this->xk_1 = x; this->x = x;};
      void setMeasurementParameters(const typename Model::matrix& V,
                const typename Model::matrix& R)
      {
        this->V = V; this->R = R;
      }
      void setStateParameters(const typename Model::matrix& W,
                const typename Model::matrix& Q)
      {
        this->W = W; this->Q = Q;
      }
      void setOutlierR(double outlierR)
      {
        this->outlierR = outlierR;
      }
                        inline vectorref getState(){return this->x;};
                        inline void setTs(double Ts)
                        {
                                if (!Ts) throw std::invalid_argument("Cannot set zero sampling time.");
                                this->Ts = Ts;
                                this->initModel();
                        };

                        inline double traceP()
                        {
                                return this->P.trace();
                        }

                protected:
                        typename Model::matrix K, P, innovationCov;
                        typename Model::vector innovation;
                        double outlierR;
                };
        }
}

/* KFBASE_HPP_ */
#endif