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actcalKALMAN.h

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#ifndef actcalKALMAN_H
#define actcalKALMAN_H
/*******************************************************************************
* E.S.O. - VLT project
#
# "@(#) $Id: actcalKALMAN.h,v 1.102 2003/08/12 14:55:13 vltsccm Exp $" 
*
* who      when       what
* -------- ---------- ----------------------------------------------
* fdelgado 2001-09-01 Added array in actcalKALMANFILTER to store
*                     the symmetry of each mode.
* fdelgado 2001-08-29 Created. Kalman filter code and interface.
*
*/

/************************************************************************
*
*----------------------------------------------------------------------
*/
#define _POSIX_SOURCE 1

#include "ccs.h"
#include "actcalDefines.h"

class actcalKALMAN {
private:
  vltDOUBLE sigmaXp, sigmaXv, sigmaNoise;
  vltDOUBLE sigmaXp_init, sigmaXv_init;

  vltDOUBLE Xv_init;
  vltDOUBLE T_init;

  vltDOUBLE Qpp, Qvv, pee;
  vltLOGICAL first_iteration;

  vltDOUBLE Xp_new, Xv_new, Xp_err;
  vltDOUBLE Ppp_new, Ppv_new, Pvp_new, Pvv_new;
  vltDOUBLE time_old;

public:
  actcalKALMAN();
  ~actcalKALMAN();

  ccsCOMPL_STAT Configure(vltDOUBLE inpSigmaXp_init,
        vltDOUBLE inpSigmaXv_init,
        vltDOUBLE inpSigmaXp,
        vltDOUBLE inpSigmaXv,
        vltDOUBLE inpSigmaNoise);
  ccsCOMPL_STAT Init();
  ccsCOMPL_STAT Calculate(vltDOUBLE time_mea, vltDOUBLE Xp_mea);
  vltDOUBLE     GetPosition();
  vltDOUBLE     GetSqrError();
};    

class actcalKALMANFILTER : public eccsERROR_CLASS {
private:
  actcalKALMAN       kalmanXmode [actcalMAX_NUM_MODES];
  actcalKALMAN       kalmanYmode [actcalMAX_NUM_MODES];
  vltINT32           symmetry[actcalMAX_NUM_MODES];
  actcalM1_CORR_PAR *pM1CorrPar;

public:
  actcalKALMANFILTER();
  ~actcalKALMANFILTER();

  ccsCOMPL_STAT Init();
  ccsCOMPL_STAT Calculate();
};




#endif

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