LTIStateModel.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 LTISTATEMODEL_H
#define LTISTATEMODEL_H
 
#include <BayesFilters/LinearStateModel.h>
 
namespace bfl {
    class LTIStateModel;
}
 
 
class bfl::LTIStateModel : public bfl::LinearStateModel
{
public:
    LTIStateModel(const Eigen::Ref<const Eigen::MatrixXd>& transition_matrix, const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix);
 
    LTIStateModel(const LTIStateModel& state_model) noexcept = delete;
 
    LTIStateModel& operator=(const LTIStateModel& state_model) noexcept = delete;
 
    LTIStateModel(LTIStateModel&& state_model) noexcept;
 
    LTIStateModel& operator=(LTIStateModel&& state_model) noexcept;
 
    virtual ~LTIStateModel() noexcept = default;
 
    bool setProperty(const std::string& property) override;
 
    Eigen::MatrixXd getJacobian() override;
 
    Eigen::MatrixXd getNoiseCovarianceMatrix() override;
 
    Eigen::MatrixXd getStateTransitionMatrix() override;
 
private:
    Eigen::MatrixXd F_;
 
    Eigen::MatrixXd Q_;
};
 
#endif /* LTISTATEMODEL_H */