initial implementation

KalmanFilterTransition.cpp

@@ -0,0 +1,55 @@
+/* @file KalmanFilterTransition.cpp */
+
+#include "KalmanFilterTransition.hpp"
+#include "reflect/StructReflector.hpp"
+#include "print_eigen.hpp"
+#include "indentlog/scope.hpp"
+
+namespace xo {
+  using xo::reflect::StructReflector;
+  using logutil::matrix;
+  using xo::xtag;
+
+  namespace kalman {
+    void
+    KalmanFilterTransition::reflect_self()
+    {
+      StructReflector<KalmanFilterTransition> sr;
+
+      if (sr.is_incomplete()) {
+    REFLECT_MEMBER(sr, F);
+    REFLECT_MEMBER(sr, Q);
+      }
+    } /*reflect_self*/
+
+    uint32_t
+    KalmanFilterTransition::n_state() const
+    {
+      /* we know F.rows() == F.cols() = Q.cols() == Q.rows(),
+       * see .check_ok()
+       */
+
+      return F_.rows();
+    } /*n_state*/
+
+    void
+    KalmanFilterTransition::display(std::ostream & os) const
+    {
+      os << "<KalmanFilterTransition"
+     << xtag("F", matrix(F_))
+     << xtag("Q", matrix(Q_))
+     << ">";
+    } /*display*/
+
+    std::string
+    KalmanFilterTransition::display_string() const
+    {
+      std::stringstream ss;
+      this->display(ss);
+      return ss.str();
+    } /*display_string*/
+
+  } /*namespace kalman*/
+} /*namespace xo*/
+
+/* end KalmanFilterTransition.cpp */