X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?a=blobdiff_plain;f=lib%2FcpExtensions%2FAlgorithms%2FKalmanFilter.h;fp=lib%2FcpExtensions%2FAlgorithms%2FKalmanFilter.h;h=0000000000000000000000000000000000000000;hb=2e142df11d6f312a2a2b5097b8da73571ed523e8;hp=003962087b696126875ad45ebe0bbdae0ed6ab7e;hpb=61b3659afe961ed248f30e26f9ca8f28fcfafddc;p=cpPlugins.git

diff --git a/lib/cpExtensions/Algorithms/KalmanFilter.h b/lib/cpExtensions/Algorithms/KalmanFilter.h
deleted file mode 100644
index 0039620..0000000
--- a/lib/cpExtensions/Algorithms/KalmanFilter.h
+++ /dev/null
@@ -1,213 +0,0 @@
-// -------------------------------------------------------------------------
-// @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
-// -------------------------------------------------------------------------
-
-#ifndef __CPEXTENSIONS__ALGORITHMS__KALMANFILTER__H__
-#define __CPEXTENSIONS__ALGORITHMS__KALMANFILTER__H__
-
-#include <cpExtensions/Config.h>
-
-#include <itkObject.h>
-#include <itkObjectFactory.h>
-#include <vnl/vnl_matrix.h>
-#include <vnl/vnl_vector.h>
-
-// -------------------------------------------------------------------------
-#define kalmanGetSetMacro( type, name )         \
-  itkGetConstMacro( name, type );               \
-  itkSetMacro( name, type );
-
-// -------------------------------------------------------------------------
-#define kalmanGetMatrixMacro( var, name )       \
-  virtual const TMatrix& Get##name( ) const     \
-  { return( this->m_##var ); }
-
-// -------------------------------------------------------------------------
-#define kalmanSetMatrixMacro( var, name )       \
-  virtual void Set##name( const TMatrix& m )    \
-  { this->Set##var( m ); }
-
-// -------------------------------------------------------------------------
-#define kalmanGetSetMatrixMacro( var, name )    \
-  kalmanGetMatrixMacro( var, name );            \
-  kalmanSetMatrixMacro( var, name );
-
-// -------------------------------------------------------------------------
-#define kalmanGetVectorMacro( var, name )       \
-  virtual const TVector& Get##name( ) const     \
-  { return( this->m_##var ); }
-
-// -------------------------------------------------------------------------
-#define kalmanSetVectorMacro( var, name )       \
-  virtual void Set##name( const TVector& v )    \
-  { this->Set##var( v ); }
-
-// -------------------------------------------------------------------------
-#define kalmanGetSetVectorMacro( var, name )    \
-  kalmanGetVectorMacro( var, name );            \
-  kalmanSetVectorMacro( var, name );
-
-namespace cpExtensions
-{
-  namespace Algorithms
-  {
-    /**
-     * Abstract class implementing the classical kalman filter. See
-     * http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf
-     * for a description of this algorithm.
-     */
-    template< typename T >
-    class cpExtensions_EXPORT KalmanFilter
-      : public itk::Object
-    {
-    public:
-      typedef KalmanFilter                    Self;
-      typedef itk::Object                     Superclass;
-      typedef itk::SmartPointer< Self >       Pointer;
-      typedef itk::SmartPointer< const Self > ConstPointer;
-
-      // Template parameters types
-      typedef T TScalar;
-
-      // VNL types
-      typedef vnl_matrix< TScalar > TMatrix;
-      typedef vnl_vector< TScalar > TVector;
-
-      //  stage identificators
-      enum
-      {
-        StPred,
-        StInno,
-        StFilt
-      };
-
-    public:
-      itkNewMacro( Self );
-      itkTypeMacro( KalmanFilter, itkObject );
-
-      // Values
-      itkGetConstMacro( StateSize, unsigned int );
-      itkGetConstMacro( InputSize, unsigned int );
-      itkGetConstMacro( MeasureSize, unsigned int );
-
-      // Matrices
-      kalmanGetSetMacro( TMatrix, A );
-      kalmanGetSetMacro( TMatrix, B );
-      kalmanGetSetMacro( TMatrix, H );
-      kalmanGetSetMacro( TMatrix, Q );
-      kalmanGetSetMacro( TMatrix, R );
-      kalmanGetSetMacro( TMatrix, P0 );
-      kalmanGetSetMacro( TMatrix, K );
-      kalmanGetSetMacro( TMatrix, Pm );
-      kalmanGetSetMacro( TMatrix, Pp );
-
-      // Vectors
-      kalmanGetSetMacro( TVector, x0 );
-      kalmanGetSetMacro( TVector, u );
-      kalmanGetSetMacro( TVector, m );
-      kalmanGetSetMacro( TVector, xm );
-      kalmanGetSetMacro( TVector, xp );
-
-      // Human-readable matrices
-      kalmanGetSetMatrixMacro( A, TransitionMatrix );
-      kalmanGetSetMatrixMacro( B, InputControlMatrix );
-      kalmanGetSetMatrixMacro( H, MeasureMatrix );
-      kalmanGetSetMatrixMacro( Q, ProcessNoise );
-      kalmanGetSetMatrixMacro( R, MeasureNoise );
-      kalmanGetSetMatrixMacro( P0, InitialNoise );
-      kalmanGetSetMatrixMacro( K, Gain );
-      kalmanGetSetMatrixMacro( Pm, APrioriNoise );
-      kalmanGetSetMatrixMacro( Pp, APosterioriNoise );
-
-      // Human-readable vectors
-      kalmanGetSetVectorMacro( x0, InitialState );
-      kalmanGetSetVectorMacro( u, Input );
-      kalmanGetSetVectorMacro( m, Measure );
-      kalmanGetSetVectorMacro( xm, APrioriState );
-      kalmanGetSetVectorMacro( xp, APosterioriState );
-
-    public:
-
-      void Configure( unsigned int s, unsigned int i, unsigned int m );
-
-      // Iteration methods
-      virtual void Initialize( );
-      virtual void Predict( );
-      virtual void Innovate( );
-      virtual void Filtrate( );
-      virtual void OneStep( )
-        {
-          this->Predict( );
-          this->Innovate( );
-          this->Filtrate( );
-        }
-      virtual void NSteps( unsigned int n )
-        {
-          for( unsigned int i = 0; i < n; i++ )
-            this->OneStep( );
-        }
-      unsigned int CurrentIteration( ) const
-        { return( this->m_I ); }
-      unsigned char CurrentStep( ) const
-        { return( this->m_Step ); }
-
-    protected:
-      KalmanFilter( );
-      virtual ~KalmanFilter( );
-
-    private:
-      // Purposely not implemented
-      KalmanFilter( const Self& );
-      void operator=( const Self& );
-
-    protected:
-      // Filter dimensions
-      unsigned int m_StateSize;
-      unsigned int m_InputSize;
-      unsigned int m_MeasureSize;
-
-      // Transition matrices
-      TMatrix m_A;  // Transition
-      TMatrix m_B;  // Input control
-      TMatrix m_H;  // Measure
-      TMatrix m_Id; // Identity matrix
-
-      // Noise matrices
-      TMatrix m_Q; // Process noise covariance
-      TMatrix m_R; // Measure noise covariance
-
-      // Initial values
-      TVector m_x0; // Initial state
-      TMatrix m_P0; // Initial error covariance
-
-      // Loop vectors
-      TVector m_u;  // Last real input
-      TVector m_m;  // Last real measure
-      TVector m_xm; // A priori state
-      TVector m_xp; // A posteriori state
-
-      // Loop matrices
-      TMatrix m_K; // kalman gain
-      TMatrix m_Pm; // A priori error
-      TMatrix m_Pp; // A posteriori error
-
-      // Loop values
-      unsigned int  m_I;    // Current iteration
-      unsigned char m_Step; // Current step within current iteration
-
-      // -------------------------------------------------------------------
-      // Classic kronecker product operator
-      // -------------------------------------------------------------------
-      template< class M >
-      static void Kronecker( M& AkB, const M& A, const M& B );
-    };
-
-  } // ecapseman
-
-} // ecapseman
-
-#include <cpExtensions/Algorithms/KalmanFilter.hxx>
-
-#endif // __CPEXTENSIONS__ALGORITHMS__KALMANFILTER__H__
-
-// eof - $RCSfile$