KalmanHydroBall.h

#ifndef KALMAN_HYDRO_BALL_H
#define KALMAN_HYDRO_BALL_H
 
#include "HydroBall.h"
#include <fhsim/simobject/KalmanObject.h>
#include <fhsim/simobject/SimObject.h>
 
#include "sfh/constants.h"
#include "sfh/math.h"
#include "sfh/text.h"
#include "sfh/util.h"
 
#include <Eigen/Dense>
 
#include <memory>
 
class KalmanHydroBall : public HydroBall, public KalmanObject
{
   public:
   KalmanHydroBall(const std::string& simObjectName, ISimObjectCreator* const creator);
   estimator::Matrix GetInitialEstimationErrorCovariance();
   estimator::Matrix GetProcessNoiseCovariance();
   estimator::Matrix GetMeasurementNoiseCovariance();
   estimator::Vector ExpectedMeasurementOutput(const double T, const double* const X);
   estimator::Vector ActualMeasurementOutput(const double T, const double* const X);
   unsigned int GetNumMeasurements();
 
   protected:
   ISignalPort* m_PositionMeasurement;
 
   double m_MeasurementNoise;
   double m_PositionUncertainty;
   double m_VelocityUncertainty;
   double m_InitialP[6];
};
 
#endif