27 #ifndef KFILTER_IMPL_HPP
28 #define KFILTER_IMPL_HPP
35 template<
typename T, K_UINT_32 BEG,
bool OQ,
bool OVR,
bool DBG>
38 template<
typename T, K_UINT_32 BEG,
bool OQ,
bool OVR,
bool DBG>
41 template<
typename T, K_UINT_32 BEG,
bool OQ,
bool OVR,
bool DBG>
44 template<
typename T, K_UINT_32 BEG,
bool OQ,
bool OVR,
bool DBG>
53 for (i = BEG; i < n + BEG; ++i) {
57 for (j = BEG; j < n + BEG; ++j)
58 x__(i) += A(i,j) * x(j);
60 for (j = BEG; j < nu + BEG; ++j)
61 x__(i) += B(i,j) * u(j);
69 template<
typename T, K_UINT_32 BEG,
bool OQ,
bool OVR,
bool DBG>
76 for (i = BEG; i < m + BEG; ++i) {
80 for (j = BEG; j < n + BEG; ++j)
81 z(i) += H(i,j) * x(j);
87 template<
typename T, K_UINT_32 BEG,
bool OQ,
bool OVR,
bool DBG>
#define KALMAN_NU_MODIFIED
#define KALMAN_N_MODIFIED
virtual void makeProcess()
Process function overridden to be linear.
virtual void makeBaseB()
Virtual pre-creator of B.
virtual void makeMeasure()
Measurement function overridden to be linear.
virtual void sizeUpdate()
Resizes all vector and matrices. Never call or overload this !
virtual void makeB()
Virtual creator of B.
virtual void sizeUpdate()
Matrix and vector resizing function, overridden to take B into account.
unsigned long int K_UINT_32
Unsigned 32-bits integral type.
virtual ~KFilter()=0
Virtual destructor.