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( ) cpExtensions_OVERRIDE;
  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 - $RCSfile$