/* @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 */