LTIMeasurementModel.h

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef LTIMEMEASUREMENTMODEL_H
#define LTIMEMEASUREMENTMODEL_H
 
#include <BayesFilters/LinearMeasurementModel.h>
 
#include <Eigen/Dense>
 
namespace bfl {
    class LTIMeasurementModel;
}
 
 
class bfl::LTIMeasurementModel : public bfl::LinearMeasurementModel
{
public:
    LTIMeasurementModel(const Eigen::Ref<const Eigen::MatrixXd>& measurement_matrix, const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix);
 
    virtual ~LTIMeasurementModel() noexcept = default;
 
    std::pair<bool, Eigen::MatrixXd> getNoiseCovarianceMatrix() const override;
 
    Eigen::MatrixXd getMeasurementMatrix() const override;
 
 
protected:
    Eigen::MatrixXd H_;
 
    Eigen::MatrixXd R_;
};
 
#endif /* LTIMEMEASUREMENTMODEL_H */