ekfilter.hpp

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// This file is part of kfilter.
// kfilter is a C++ variable-dimension extended kalman filter library.
//
// Copyright (C) 2004        Vincent Zalzal, Sylvain Marleau
// Copyright (C) 2001, 2004  Richard Gourdeau
// Copyright (C) 2004        GRPR and DGE's Automation sector
//                           École Polytechnique de Montréal
//
// Code adapted from algorithms presented in :
//      Bierman, G. J. "Factorization Methods for Discrete Sequential
//      Estimation", Academic Press, 1977.
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

#ifndef EKFILTER_HPP
#define EKFILTER_HPP


#include "kalman/kvector.hpp"
#include "kalman/kmatrix.hpp"

namespace Kalman {


  template<typename T, K_UINT_32 BEG, bool OQ = false, 
           bool OVR = false, bool DBG = true>
  class EKFilter {
  public:

    typedef T type;     

    enum { beg = BEG    
    };

    typedef KVector<T, BEG, DBG> Vector;  
    typedef KMatrix<T, BEG, DBG> Matrix;  



    EKFilter();
    

    EKFilter(K_UINT_32 n_, K_UINT_32 nu_, K_UINT_32 nw_, 
             K_UINT_32 m_, K_UINT_32 nv_);

    virtual ~EKFilter();




    K_UINT_32 getSizeX() const;

    K_UINT_32 getSizeU() const;

    K_UINT_32 getSizeW() const;

    K_UINT_32 getSizeZ() const;

    K_UINT_32 getSizeV() const;




    // TODO !!! watch out : i don't know which dims can be 0 !


    void setDim(K_UINT_32 n_, K_UINT_32 nu_, K_UINT_32 nw_, 
                K_UINT_32 m_, K_UINT_32 nv_);


    void setSizeX(K_UINT_32 n_);

    void setSizeU(K_UINT_32 nu_);


    void setSizeW(K_UINT_32 nw_);

    void setSizeZ(K_UINT_32 m_);

    void setSizeV(K_UINT_32 nv_);



    void init(Vector& x_, Matrix& P_);




    void step(Vector& u_, const Vector& z_);


    void timeUpdateStep(Vector& u_);


    void measureUpdateStep(const Vector& z_);


    const Vector& predict(Vector& u_);


    const Vector& simulate();

    const Vector& getX() const;


    const Matrix& calculateP() const;


  protected:


    void NoModification();

    // TODO !!! : watch out for all virtual functions : can dims be 0 ?
    


    virtual void makeBaseA();

    virtual void makeBaseW();


    virtual void makeBaseQ();

    virtual void makeBaseH();


    virtual void makeBaseV();


    virtual void makeBaseR();





    virtual void makeCommonProcess();

    virtual void makeA();

    virtual void makeW();


    virtual void makeQ();


    virtual void makeProcess() = 0;
    

    virtual void makeCommonMeasure();

    virtual void makeH();


    virtual void makeV();


    virtual void makeR();


    virtual void makeMeasure() = 0;


    virtual void makeDZ();



    virtual void sizeUpdate();



    Vector x;           

    Vector u;           

    Vector z;           

    Vector dz;          

    Matrix A;           

    Matrix W;           

    Matrix Q;           

    Matrix H;           

    Matrix V;           

    Matrix R;           




    K_UINT_32 n;        
    K_UINT_32 nu;       
    K_UINT_32 nw;       
    K_UINT_32  m;       
    K_UINT_32 nv;       


  private:
    

    static void factor(Matrix& P_);


    static void upperInvert(Matrix& P_);


    void timeUpdate();


    void measureUpdate(T dz, T r);



    void makeBaseAImpl();

    void makeBaseWImpl();

    void makeBaseQImpl();

    void makeBaseHImpl();

    void makeBaseVImpl();

    void makeBaseRImpl();

    void makeAImpl();

    void makeWImpl();

    void makeQImpl();

    void makeHImpl();

    void makeVImpl();

    void makeRImpl();


    Matrix U;           

    Matrix W_;          

    Matrix Q_;          

    Matrix H_;          

    Matrix R_;          

    Vector a;           
    Vector d;           
    Vector v;           

    K_UINT_32 nn;       

    mutable Matrix _P;  
    mutable Vector _x;  

    K_UINT_16 flags;    
    bool modified_;     

  };

}

#include "kalman/ekfilter_impl.hpp"

#endif

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