Kalman.hpp

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/*  Copyright (C) 2004-2015
    ANTONIO JAVIER BARRAGAN, antonio.barragan@diesia.uhu.es
    http://uhu.es/antonio.barragan

    Collaborators:
    JOSE MANUEL ANDUJAR, andujar@diesia.uhu.es
    AGUSTIN JIMENEZ AVELLO, agustin.jimenez@upm.es
    MARIANO J. AZNAR, marianojose.aznar@alu.uhu.es
    BASIL M. AL-HADITHI, basil.alhadithi@upm.es

    DPTO. DE ING. ELECTRONICA, DE SISTEMAS INFORMATICOS Y AUTOMATICA
    ETSI, UNIVERSITY OF HUELVA (SPAIN)

    For more information, please contact with authors.
    
    This software is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This software is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef _KALMAN_HPP_
#define _KALMAN_HPP_

#include <flt/derivatives.hpp>
#include <gsl/gsl_blas.h>
#include <gsl/gsl_linalg.h>

namespace FLT // Use the FTL (Fuzzy Logic Tool) namespace
{
  TNT::Array1D<double> KalmanAntec(System &Model,
                        TNT::Array1D<double> &input,
                        TNT::Array1D<double> &output,
                        TNT::Array2D<double> &covariance,
                        TNT::Array2D<double> &P,
                        TNT::Array2D<double> &Phi);

  TNT::Array1D<double> KalmanAntec(System &Model,
                        TNT::Array1D<double> &input,
                        TNT::Array1D<double> &output,
                        TNT::Array2D<double> &covariance,
                        TNT::Array2D<double> &P);

  TNT::Array1D<double> KalmanConseq(System &Model,
                         TNT::Array1D<double> &input,
                         TNT::Array1D<double> &output,
                         TNT::Array2D<double> &covariance,
                         TNT::Array2D<double> &P,
                         TNT::Array2D<double> &Phi);
                         
  TNT::Array1D<double> KalmanConseq(System &Model,
                        TNT::Array1D<double> &input,
                        TNT::Array1D<double> &output,
                        TNT::Array2D<double> &covariance,
                        TNT::Array2D<double> &P);

  TNT::Array1D<double> KalmanFuz(System &Model,
                        TNT::Array1D<double> &input,
                        TNT::Array1D<double> &output,
                        TNT::Array2D<double> &covariance,
                        TNT::Array2D<double> &P,
                        TNT::Array2D<double> &Phi);
                         
  TNT::Array1D<double> KalmanFuz(System &Model,
                        TNT::Array1D<double> &input,
                        TNT::Array1D<double> &output,
                        TNT::Array2D<double> &covariance,
                        TNT::Array2D<double> &P); 
} // FLT

#endif