LocUavFilter.h

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/*
    <one line to give the program's name and a brief idea of what it does.>
    Copyright (C) <year>  <name of author>

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/




#ifndef LOCUAVFILTER_H
#define LOCUAVFILTER_H

#include "RootEKF.h"

using namespace MipBaselib;

namespace MipAlgorithms
{
 /* @{ */

  // Represents the parameters of an EKF
  class LocUavFilterParam : public RootEKFparams
  {
    public:
      LocUavFilterParam();
      void initializeParam();    
  };
  
  class LocUavFilterVar : public RootEKFvars
  {
    public: 
      LocUavFilterVar();
      void evalA(DCol input, DCol state, Decimal sTime);
      void evalW(DCol input, DCol state, Decimal sTime);  
      void evalV(DCol state);
      void evalH(DCol state);
      DCol projectState(DCol input, DCol state, Decimal sTime);
      DCol predictMeas(DCol state);    
    private:   
  };
  
 /* @} */
};// end namespace MipAlgorithms

#endif // LOCUAVFILTER_H