KalmanFilterHistory.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file KalmanFilterHistory.h
*  \brief A class to store additional data specific to the Kalman Filter.  Derived from SequentialFilter.
*  \author $Author: cakinli $
*  \version $Revision: 1.8 $
*  \date    $Date: 2005/03/16 18:08:13 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*  
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_KALMANFILTER_HISTORY_H__
#define __SSSL_KALMANFILTER_HISTORY_H__

#include <matrix/Matrix.h>
#include <datahandling/History.h>
#include "utils/Time.h"
#include <Filtering/KalmanFilter.h>
#include <Logging/SequentialFilterHistory.h>
#include <vector>
using namespace std;
using namespace O_SESSAME;

/*! \brief A class to store additional data specific to the Kalman Filter.  Derived from SequentialFilter.
**
*/
class KalmanFilterHistory : public SequentialFilterHistory {
        
public:
        // CONSTRUCTOR / DESTRUCTOR
        KalmanFilterHistory() {};  /*!< Needed for derived classes. */
        KalmanFilterHistory(SequentialFilter* _ptr_filter);
        /*! \brief Default Deconstructor. */
    virtual ~KalmanFilterHistory() {};
        
        // OPERATORS
        virtual void AppendHistory(const double& _appendTime);
    virtual void AppendHistory(const ssfTime& _appendTime);
    
    void ResetHistory();

    // INSPECTORS
    Matrix GetHistory();
    void GetKalmanHistory(Matrix& _sfHistMatrix, Matrix& _kfHistMatrix);
        
   // void GetState(const ssfTime& _requestedTime, sequentialFilterData& _returnSequentialStruct);

protected:
        /*! \brief internal vector container of covariance matrices, P. */
    vector<Matrix> m_kfCovarianceHistory;
        /*! \brief internal vector container of Kalman gain matrices, K. */
        vector<Matrix> m_kfKalmanGainHistory;

};


#endif


// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: KalmanFilterHistory.h,v $
*       Revision 1.8  2005/03/16 18:08:13  cakinli
*       *** empty log message ***
*       
*       Revision 1.7  2003/11/01 21:00:15  rsharo
*       changed "Time.h" includes to "utils/Time.h" includes. Also eliminated excess compile warnings.
*       
*       Revision 1.6  2003/07/12 18:19:59  simpliciter
*       Fixed linker errors.
*       
*       Revision 1.5  2003/07/12 17:54:40  simpliciter
*       Added IEKF and EKF Histories.
*       
*       Revision 1.4  2003/06/28 00:45:37  simpliciter
*       Basic housekeeping.
*       
*       Revision 1.3  2003/06/27 01:52:50  simpliciter
*       Fully commented!  And almost fully functional.
*       Once I learn the best way to copy chunks of one Matrix
*       into another I'll finish GetKalmanHistory.  Otherwise
*       everything is done.  GetState is not implemented because
*       it would require / desire interpolations, which seems out
*       of spirit with tracking the effectiveness of a filter.
*       
*       Revision 1.2  2003/06/24 15:50:06  simpliciter
*       Everything but the all important "GetHistory" command
*       should work.  :)
*       
*       Revision 1.1  2003/06/12 20:47:23  simpliciter
*       Previously IterativeFilterHistory.h
*       
*       Revision 1.0  2003/06/11 20:55:53  simpliciter
*       Initial submission.
*       
*       
*
******************************************************************************/

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