plEKF.h

#ifndef _plEKF_h_
#define _plEKF_h_

#include <plKalmanFilter.h>

class plEKF :public plKalmanFilter
{
protected:
  plFloatMatrix Jacob_State,Jacob_Obs, Jacob_Obs_T;
  plFloatMatrix observation_noise_matrix;
  
  
  plFloatVector F;
  
  virtual void update_F_Jacob(const plFloatVector &obs) = 0;
  
  void update_R_matrix();
  void update_H_matrix();
  
  unsigned int mes_size;
  
public:
  plEKF(unsigned int fsize, const plFloatMatrix &_a, 
    const plFloatMatrix &system_noise, const plFloatMatrix &obs_noise);
  
  virtual ~plEKF(){};
  
  void init(const plFloatVector& Xo, const plFloatMatrix& Po);
  void AddMeasurement(const plFloatVector &obs);
  
};






#endif

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