PureVectorState.h

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// Copyright 2015 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_PureVectorState_h_GUID_5347542B_F2F6_46A2_E49B_3EF0B0A9F9ED
#define INCLUDED_PureVectorState_h_GUID_5347542B_F2F6_46A2_E49B_3EF0B0A9F9ED

// Internal Includes
#include "FlexibleKalmanBase.h"

// Library/third-party includes
// - none

// Standard includes
// - none
namespace osvr {
namespace kalman {
    template <types::DimensionType Dim = 3> class PureVectorState {
      public:
        static const types::DimensionType DIMENSION = Dim;
        using SquareMatrix = types::SquareMatrix<DIMENSION>;
        using StateVector = types::Vector<DIMENSION>;

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        PureVectorState(double x, double y, double z)
            : m_state(x, y, z), m_errorCovariance(SquareMatrix::Zero()) {
            static_assert(DIMENSION == 3, "This constructor, which takes 3 "
                                          "scalars, only works with a 3D "
                                          "vector!");
        }

        PureVectorState(double x, double y, double z,
                        SquareMatrix const &covariance)
            : m_state(x, y, z), m_errorCovariance(covariance) {
            static_assert(DIMENSION == 3, "This constructor, which takes 3 "
                                          "scalars, only works with a 3D "
                                          "vector!");
        }

        PureVectorState(StateVector const &state,
                        SquareMatrix const &covariance)
            : m_state(state), m_errorCovariance(covariance) {}
        void setStateVector(StateVector const &state) { m_state = state; }
        StateVector const &stateVector() const { return m_state; }
        // set P
        void setErrorCovariance(SquareMatrix const &errorCovariance) {
            m_errorCovariance = errorCovariance;
        }
        SquareMatrix const &errorCovariance() const {
            return m_errorCovariance;
        }
        void postCorrect() {}
      private:
        StateVector m_state;
        SquareMatrix m_errorCovariance;
    };

} // namespace kalman
} // namespace osvr
#endif // INCLUDED_PureVectorState_h_GUID_5347542B_F2F6_46A2_E49B_3EF0B0A9F9ED