SequentialFilter.h

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/************************************************************************************************/
/*! \file SequentialFilter.h
*  \brief The SequentialFilter class is an abstract class SequentialFilter.
*  \author $Author: cakinli $
*  \version $Revision: 1.12 $
*  \date    $Date: 2005/02/25 18:40:54 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_SEQUENTIALFILTER_H__
#define __SSSL_SEQUENTIALFILTER_H__

#include <matrix/Matrix.h>

using namespace std;
using namespace O_SESSAME;



class SequentialFilter {

public:
        // Contructors/Deconstructors
        /*! Default destructor */
        virtual ~SequentialFilter() { };

        // Facilitators
        
        // Mutators
        
        /*! Sets the time of the currently saved state estimate in seconds */
        inline void SetTimeOfEstimate(double& _timeOfEstimate) { m_timeOfEstimate = _timeOfEstimate; };
                        
        /*! Sets the time when the measurements were taken, seconds */
        inline void SetTimeOfMeasurements(double& _timeOfMeasurements) { m_timeOfMeasurements = _timeOfMeasurements; };
                
        /*! Sets the state vector, x. */
        inline void SetStateVector(Vector& _states) { m_states = _states; };
                        
        /*! Sets the control vector, u. */      
        inline void SetControlVector(Vector& _controls) { m_controls = _controls; };
                        
        /*! Sets the measurement vector, z. */
        inline void SetMeasurementVector(Vector& _measurements) { m_measurements = _measurements; };
                        
        /*! Sets the parameter vector, w. */
        inline void SetParameterVector(Vector& _parameters) { m_parameters = _parameters; };
                        
        // Inspectors
        
        /*! Gets the time of the stored estimate. */
        double GetTimeOfEstimate();
                        
        /*! Gets the time of the stored measurements. */
        double GetTimeOfMeasurements();
                        
        /*! Gets the time step between the last state estimate and the current measurements. */
        inline double GetTimeStep() { return (m_timeOfMeasurements - m_timeOfEstimate); };
        
        /*! Gets the state vector. */
        Vector GetStateVector();
                        
        /*! Gets the control vector. */
        Vector GetControlVector();
                        
        /*! Gets the measurement vector. */
        Vector GetMeasurementVector();
                        
        /*! Gets the paramter vector. */
        Vector GetParameterVector();
        
        /*! Pure virtual functions for compatibility with derived classes. */
        virtual void EstimateState() = 0;
        virtual Matrix GetCovarianceMatrix() = 0;
        virtual Matrix GetKalmanGainMatrix() = 0;
        virtual int GetNumIterations() { return 0; } /*!< a bit of a hack.  */

    
protected:

        // protected data members
        double m_timeOfEstimate;         /*!< Time of the current state estimate, seconds. */
        double m_timeOfMeasurements; /*!< Time when the measurements were taken, seconds. */
        Vector m_states;                         /*!< The vector of states; enters filter as \f$x_{k-1}^{+}\f$ and is incrementally updated to \f$x_{k}^{-}\f$ and finally \f$x_{k}^{+}\f$.*/
        Vector m_controls;                       /*!< The vector of controls applied at t(k), u. */
        Vector m_measurements;           /*!< The vector of measurements at t(k), z. */
        Vector m_parameters;             /*!< The vector of system parameters, w. */
        
private:



};



#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
* $Log: SequentialFilter.h,v $
* Revision 1.12  2005/02/25 18:40:54  cakinli
* Created Makefiles and organized include directives to reduce the number of
* include paths.  Reorganized libraries so that there is now one per source
* directory.  Each directory is self-contained in terms of its Makefile.
* The local Makefile in each directory includes src/config.mk, which has all
* the definitions and general and pattern rules.  So at most, to see what
* goes into building a target, a person needs to examine the Makefile in
* that directory, and ../config.mk.
*
* Revision 1.11  2003/07/12 17:57:52  simpliciter
* Added IEKF and EKF Histories.
*
* Revision 1.10  2003/06/27 12:39:32  simpliciter
* Removed extra header file.
*
* Revision 1.9  2003/06/27 01:49:46  simpliciter
* Got a bit "commit" happy.  No changes.
*
*
* Revision 1.7  2003/06/24 23:04:00  mavandyk
* Correct typos.
*
* Revision 1.6  2003/06/24 22:38:50  mavandyk
* Split up m_deltaT into m_timeOfEstimate and m_timeOfMeasurements to allow for absolute time-stamping, and added more comments.
*
* Revision 1.5  2003/06/24 15:44:40  simpliciter
* Removed the sfData struct.  This caused minimal changes
* here but several trickle-down changes.
* Also, moved implementation of inline functions to the
* header file because derived classes couldn't find them.
*
* Revision 1.4  2003/06/23 19:41:36  mavandyk
* Moved sequentialFilterData private member to protected, and removed constructor.
*
* Revision 1.3  2003/06/20 15:21:10  simpliciter
* Added deconstructor.
*
* Revision 1.2  2003/06/18 17:33:54  mavandyk
* Added include line for Matrix.h and the using namespace O_SESSAME line.
*
* Revision 1.1  2003/06/12 16:29:41  mavandyk
* This file replaces IterativeFilter.h, and only differs by replacing iterative with sequential.
*
* Revision 1.1  2003/06/11 15:45:08  simpliciter
* Initial submission, pulled out of KalmanFilter.h.
* May require (desire) additional pure virtual functions.
*
*
******************************************************************************/

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