// -------------------------------------------------------------------------
// @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
// -------------------------------------------------------------------------

#include <cpExtensions/Algorithms/KalmanConstantFilter.h>

// -------------------------------------------------------------------------
template< typename T >
void cpExtensions::Algorithms::KalmanConstantFilter< T >::
Configure( unsigned int m )
{
  this->Superclass::Configure( m, 1, m );
}

// -------------------------------------------------------------------------
template< typename T >
void cpExtensions::Algorithms::KalmanConstantFilter< T >::
Initialize( )
{
  this->Superclass::Initialize( );

  this->m_A.set_identity( );
  this->m_B.fill( TScalar( 0 ) );
  this->m_H.set_identity( );
}

// -------------------------------------------------------------------------
template< typename T >
cpExtensions::Algorithms::KalmanConstantFilter< T >::
KalmanConstantFilter( )
  : Superclass( )
{
  this->Configure( 1 );
}

// -------------------------------------------------------------------------
template< typename T >
cpExtensions::Algorithms::KalmanConstantFilter< T >::
~KalmanConstantFilter( )
{
}

// -------------------------------------------------------------------------
// Explicit instantiations

template class cpExtensions::Algorithms::KalmanConstantFilter< float >;
template class cpExtensions::Algorithms::KalmanConstantFilter< double >;

// eof - $RCSfile$