vpLinearKalmanFilterInstantiation.h

/****************************************************************************
 *
 * $Id: vpLinearKalmanFilterInstantiation.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Kalman filtering.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpLinearKalmanFilterInstantiation_h
#define vpLinearKalmanFilterInstantiation_h

#include <visp/vpKalmanFilter.h>

#include <math.h>

class VISP_EXPORT vpLinearKalmanFilterInstantiation : public vpKalmanFilter
{
 public:
  typedef enum {
    stateConstVel_MeasurePos, 
    stateConstVelWithColoredNoise_MeasureVel, 
    stateConstAccWithColoredNoise_MeasureVel,
    unknown 
  } vpStateModel;
  
  vpLinearKalmanFilterInstantiation() : vpKalmanFilter()
    {
      setStateModel(unknown);
    };

  inline vpStateModel getStateModel() {
    return model;
  }
  void filter(vpColVector &z);
 
  inline void setStateModel(vpStateModel model);

  void initFilter(unsigned int nsignal, vpColVector &sigma_state,
          vpColVector &sigma_measure, double rho, double dt);

  void initStateConstVel_MeasurePos(unsigned int nsignal, 
                    vpColVector &sigma_state,
                    vpColVector &sigma_measure,
                    double dt);
  void initStateConstVelWithColoredNoise_MeasureVel(unsigned int nsignal, 
                            vpColVector &sigma_state,
                            vpColVector &sigma_measure, 
                            double rho);

  void initStateConstAccWithColoredNoise_MeasureVel(unsigned int nsignal, 
                            vpColVector &sigma_state,
                            vpColVector &sigma_measure, 
                            double rho,
                            double dt);

 protected:
  vpStateModel model;

} ;

void vpLinearKalmanFilterInstantiation::setStateModel(vpStateModel model) {
  this->model = model;
  switch(model) {
  case stateConstVel_MeasurePos:
  case stateConstVelWithColoredNoise_MeasureVel:
    size_state = 2;
    size_measure = 1;
    break;
  case stateConstAccWithColoredNoise_MeasureVel:
    size_state = 3;
    size_measure = 1;
    break;
  case unknown:
    size_state = 0;
    size_measure = 0;
    break;
  }
}


#endif