KalmanFilter.h

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#pragma once

#include <chrono>

#include <Eigen/Dense>

#include <asr_msgs/AsrObject.h>

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {;
        class KalmanFilter {
        private:
                bool mReset;
                
                std::chrono::high_resolution_clock::time_point lastUpdate;
                
                Eigen::MatrixXd mF;
;
                Eigen::MatrixXd mH;

                Eigen::MatrixXd mQ;

                Eigen::MatrixXd mR;

                Eigen::MatrixXd mP;

                Eigen::VectorXd mX;

                Eigen::VectorXd mZ;
                
        ISM::Object mInstance;


        public:
        KalmanFilter(ISM::Object pObject);

                ~KalmanFilter();

                void reset();

        void update(ISM::Object pObject);
                
                bool isTimedOut(unsigned int threshold);
                
        ISM::Object getObject();
        };
}