uvsim: /home/jgoppert/Projects/uvsim/uvsim/src/uvsim/navigation/KalmanFilter.h Source File

00001 /*
00002  * KalmanFilter.h
00003  *
00004  *  Created on: Apr 28, 2009
00005  *      Author: jgoppert
00006  */
00007 
00008 #ifndef KALMANFILTER_H_
00009 #define KALMANFILTER_H_
00010 
00011 #include "Navigator.h"
00012 #include <boost/numeric/ublas/matrix.hpp>
00013 #include <uvsim/dynamics/LinearModel.h>
00014 #include <iostream>
00015 
00016 using namespace boost::numeric::ublas;
00017 
00018 namespace uvsim
00019 {
00020 
00026 class KalmanFilter: public Navigator
00027 {
00028 public:
00029     KalmanFilter(LinearModel *model, vector<double> *y, matrix<double> *P);
00030     virtual ~KalmanFilter();
00031     void update();
00032     void print();
00033 
00034     // Public members TODO: Make set/get functions
00035     LinearModel * model;
00036         matrix<double> *P;
00037         vector<double>*y;
00038         matrix<double> K;
00039 };
00040 
00041 }
00042 
00043 #endif /* KALMANFILTER_H_ */