los_filter.hpp

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#pragma once
 
#include <Eigen/Eigen>
#include <memory>
 
namespace auterion {
 
class LosFilterImpl;
 
class LosFilter {
   public:
    LosFilter();
 
    void init();
 
    void init(const Eigen::Vector3f& los_init, float los_std_init = 0.1f,
              float los_rate_std_init = 0.1f);
 
    bool isInitialized() const;
 
    void reset();
 
    void predict(float dt, float los_rate_process_nsd = 0.1f);
 
    void update(const Eigen::Vector3f& los_measurement, float los_variance);
 
    Eigen::Vector3f getLOS() const;
 
    Eigen::Vector3f getLOSRate() const;
 
    const Eigen::MatrixXf getCovariance() const;
 
    Eigen::Vector3f getLOSInnov() const;
 
    Eigen::Vector3f getLOSInnovVar() const;
 
    Eigen::MatrixXf getStateVariance() const;
 
    Eigen::MatrixXf getLOSVariance() const;
 
    Eigen::MatrixXf getLOSRateVariance() const;
 
   private:
    std::shared_ptr<LosFilterImpl> _impl;  
};
 
}  // namespace auterion