lib/cpExtensions/Algorithms/KalmanVelocityFilter.h

   1 // -------------------------------------------------------------------------
   2 // @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
   3 // -------------------------------------------------------------------------
   4
   5 #ifndef __CPEXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
   6 #define __CPEXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
   7
   8 #include <cpExtensions/Algorithms/KalmanFilter.h>
   9
  10 namespace cpExtensions
  11   {
  12     namespace Algorithms
  13     {
  14       /**
  15        */
  16       template< typename T >
  17       class cpExtensions_EXPORT KalmanVelocityFilter
  18         : public KalmanFilter< T >
  19       {
  20       public:
  21         typedef KalmanVelocityFilter            Self;
  22         typedef KalmanFilter< T >               Superclass;
  23         typedef itk::SmartPointer< Self >       Pointer;
  24         typedef itk::SmartPointer< const Self > ConstPointer;
  25
  26         typedef typename Superclass::TScalar TScalar;
  27         typedef typename Superclass::TMatrix TMatrix;
  28         typedef typename Superclass::TVector TVector;
  29
  30       public:
  31         itkNewMacro( Self );
  32         itkTypeMacro( KalmanVelocityFilter, KalmanFilter );
  33
  34         kalmanGetSetMacro( TMatrix, Sigma );
  35         kalmanGetSetMatrixMacro( Sigma, AccelerationNoise );
  36
  37       public:
  38         void Configure( unsigned int m );
  39
  40         TScalar GetTimeOffset( ) const;
  41         void SetTimeOffset( TScalar t );
  42
  43         /// Iteration methods
  44         virtual void Initialize( );
  45
  46       protected:
  47         KalmanVelocityFilter( );
  48         virtual ~KalmanVelocityFilter( );
  49
  50       private:
  51         // Purposely not implemented.
  52         KalmanVelocityFilter( const Self& );
  53         void operator=( const Self& );
  54
  55       protected:
  56         TMatrix m_TimeOffset;
  57         TMatrix m_Sigma;
  58       };
  59
  60     } // ecapseman
  61
  62 } // ecapseman
  63
  64 #endif // __CPEXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
  65
  66 // eof - $RCSfile$