SSModel.hpp
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00034 #ifndef SSMODEL_HPP_
00035 #define SSMODEL_HPP_
00036 #include <Eigen/Dense>
00037 #include <boost/noncopyable.hpp>
00038 
00039 namespace labust
00040 {
00041         namespace navigation
00042         {
00070                 template <class precission = double>
00071                 class SSModel : boost::noncopyable
00072                 {
00073                 public:
00074                         typedef precission numericprecission;
00075 
00076                         typedef Eigen::Matrix<precission, Eigen::Dynamic, Eigen::Dynamic> matrix;
00077                         typedef Eigen::Matrix<precission, Eigen::Dynamic, 1> vector;
00078 
00079                         //typedef boost::numeric::ublas::identity_matrix<precission> eye;
00080                         //typedef boost::numeric::ublas::zero_vector<precission> zeros;
00081                         //typedef boost::numeric::ublas::zero_matrix<precission> mzeros;
00082 
00086                         SSModel():Ts(0){};
00090                         inline void setState(vector x){this->x = x; this->xk_1 = x;}
00091 
00100                         matrix A,B,Q,W,H,R,V,H0,R0,V0;
00104                         precission Ts;
00105 
00106                 protected:
00110                         vector xk_1,x;
00111                 };
00112         }
00113 }
00114 /* SSMODEL_HPP_ */
00115 #endif


labust_navigation
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:19