vpLinearKalmanFilterInstantiation.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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.
 */

 
#ifndef VP_LINEAR_KALMAN_FILTER_INSTANCIATION_H
#define VP_LINEAR_KALMAN_FILTER_INSTANCIATION_H
 
#include <visp3/core/vpKalmanFilter.h>
 
#include <math.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpLinearKalmanFilterInstantiation : public vpKalmanFilter
{
public:
  typedef enum
  {
    stateConstVel_MeasurePos,
    stateConstVelWithColoredNoise_MeasureVel,
    stateConstAccWithColoredNoise_MeasureVel,
    unknown
  } vpStateModel;

  vpLinearKalmanFilterInstantiation() : model(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 mdl)
{
  this->model = mdl;
  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:
  default:
    size_state = 0;
    size_measure = 0;
    throw(vpException(vpException::notInitialized, "Unsupported Kalman state model in vpLinearKalmanFilterInstantiation::setStateModel()"));
    break;
  }
}
END_VISP_NAMESPACE
#endif