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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