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

#ifndef __CPEXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
#define __CPEXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__

#include <cpExtensions/Algorithms/KalmanFilter.h>

namespace cpExtensions
{
  namespace Algorithms
  {
    /**
     */
    template< typename T >
    class cpExtensions_EXPORT KalmanVelocityFilter
      : public KalmanFilter< T >
    {
    public:
      typedef KalmanVelocityFilter            Self;
      typedef KalmanFilter< T >               Superclass;
      typedef itk::SmartPointer< Self >       Pointer;
      typedef itk::SmartPointer< const Self > ConstPointer;

      typedef typename Superclass::TScalar TScalar;
      typedef typename Superclass::TMatrix TMatrix;
      typedef typename Superclass::TVector TVector;

    public:
      itkNewMacro( Self );
      itkTypeMacro( KalmanVelocityFilter, KalmanFilter );

      kalmanGetSetMacro( TMatrix, Sigma );
      kalmanGetSetMatrixMacro( Sigma, AccelerationNoise );

    public:
      void Configure( unsigned int m );

      TScalar GetTimeOffset( ) const;
      void SetTimeOffset( TScalar t );

      /// Iteration methods
      virtual void Initialize( ) cpExtensions_OVERRIDE;

    protected:
        KalmanVelocityFilter( );
        virtual ~KalmanVelocityFilter( );

    private:
        // Purposely not implemented.
        KalmanVelocityFilter( const Self& );
        void operator=( const Self& );

    protected:
        TMatrix m_TimeOffset;
        TMatrix m_Sigma;
    };

  } // ecapseman

} // ecapseman

#endif // __CPEXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__

// eof - $RCSfile$