ekf_template.h

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#ifndef EKF_TEMPLATE_H
#define EKF_TEMPLATE_H

#include "kalman.h"

namespace bdm {

class EKFful_unQR : public EKFfull  {
public:
        void condition ( const vec &QR0 ) {
                Q = diag ( QR0 ( 0, dimx - 1 ) );
                R = diag ( QR0 ( dimx, dimx + dimy - 1 ) );
        };
};

class EKFCh_dQ : public EKFCh {
public:
        void condition ( const vec &Q0 ) {
                Q.setD ( Q0, 0 );
                //from EKF
                preA.set_submatrix ( dimy + dimx, dimy, Q._Ch() );
        };
};

class EKFCh_chQ : public EKFCh {
public:
        void condition ( const vec &chQ0 ) {
                Q.setCh ( chQ0 );
                //from EKF
                preA.set_submatrix ( dimy + dimx, dimy, Q._Ch() );
        };
};

class EKFCh_cond : public EKFCh  {
public:
        void condition ( const vec &val ) {
                pfxu->condition ( val );
        };
};

}
#endif //EKF_TEMP_H

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