lib/cpPlugins/Extensions/Algorithms/KalmanVelocityFilter.h

   1 // -------------------------------------------------------------------------
   2 // @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
   3 // -------------------------------------------------------------------------
   4
   5 #ifndef __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
   6 #define __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
   7
   8 #include <cpPlugins/Extensions/Algorithms/KalmanFilter.h>
   9
  10 namespace cpPlugins
  11 {
  12   namespace Extensions
  13   {
  14     namespace Algorithms
  15     {
  16       /**
  17        */
  18       template< typename T >
  19       class cpPlugins_Extensions_EXPORT KalmanVelocityFilter
  20         : public KalmanFilter< T >
  21       {
  22       public:
  23         typedef KalmanVelocityFilter            Self;
  24         typedef KalmanFilter< T >               Superclass;
  25         typedef itk::SmartPointer< Self >       Pointer;
  26         typedef itk::SmartPointer< const Self > ConstPointer;
  27
  28         typedef typename Superclass::TScalar TScalar;
  29         typedef typename Superclass::TMatrix TMatrix;
  30         typedef typename Superclass::TVector TVector;
  31
  32       public:
  33         itkNewMacro( Self );
  34         itkTypeMacro( KalmanVelocityFilter, KalmanFilter );
  35
  36         kalmanGetSetMacro( TMatrix, Sigma );
  37         kalmanGetSetMatrixMacro( Sigma, AccelerationNoise );
  38
  39       public:
  40         void Configure( unsigned int m );
  41
  42         TScalar GetTimeOffset( ) const;
  43         void SetTimeOffset( TScalar t );
  44
  45         /// Iteration methods
  46         virtual void Initialize( );
  47
  48       protected:
  49         KalmanVelocityFilter( );
  50         virtual ~KalmanVelocityFilter( );
  51
  52       private:
  53         // Purposely not implemented.
  54         KalmanVelocityFilter( const Self& );
  55         void operator=( const Self& );
  56
  57       protected:
  58         TMatrix m_TimeOffset;
  59         TMatrix m_Sigma;
  60       };
  61
  62     } // ecapseman
  63
  64   } // ecapseman
  65
  66 } // ecapseman
  67
  68 #endif // __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
  69
  70 // eof - $RCSfile$