kmatrix.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 KMATRIX_HPP
#define KMATRIX_HPP


#include <vector>
#include <string>
#include <iostream>

#include "kalman/ktypes.hpp"

namespace Kalman {


  template<typename T, K_UINT_32 BEG, bool DBG>
  class KMatrix {
  public:

    typedef T type;          

    enum { beg = BEG         
    };



    inline KMatrix();

    inline KMatrix(K_UINT_32 m, K_UINT_32 n);

    inline KMatrix(K_UINT_32 m, K_UINT_32 n, const T& a);

    inline KMatrix(K_UINT_32 m, K_UINT_32 n, const T* v);

    inline KMatrix(const KMatrix& M);

    inline ~KMatrix();




    inline T& operator()(K_UINT_32 i, K_UINT_32 j);

    inline const T& operator()(K_UINT_32 i, K_UINT_32 j) const;

    inline K_UINT_32 nrow() const;

    inline K_UINT_32 ncol() const;


    inline void resize(K_UINT_32 m, K_UINT_32 n);

    inline KMatrix& operator=(const T& a);

    inline KMatrix& operator=(const KMatrix& M);

    inline void assign(K_UINT_32 m, K_UINT_32 n, const T* v);

    inline void swap(KMatrix& M);



    inline void get(std::istream& is);

    inline void put(std::ostream& os) const;


  private:

    std::vector<T*> vimpl_;
    std::vector<T> Mimpl_;    
    

    T** M_;
    K_UINT_32 m_;             
    K_UINT_32 n_;             

    inline void init(K_UINT_32 m, K_UINT_32 n);
  };

  template<typename T, K_UINT_32 BEG, bool DBG>
  inline std::istream& operator>>(std::istream& is, 
                                  KMatrix<T, BEG, DBG>& M);

  template<typename T, K_UINT_32 BEG, bool DBG>
  inline std::ostream& operator<<(std::ostream& os, 
                                  const KMatrix<T, BEG, DBG>& M);

  typedef unsigned short KMatrixContext;

  extern KMatrixContext DEFAULT_MATRIX_CONTEXT;

  KMatrixContext createKMatrixContext(std::string elemDelim = " ", 
                                      std::string rowDelim = "\n",
                                      std::string startDelim = "", 
                                      std::string endDelim = "", 
                                      unsigned prec = 4);

  KMatrixContext selectKMatrixContext(KMatrixContext c);

}

#include "kalman/kmatrix_impl.hpp"

#endif

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