KalmanFilter.h

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#ifndef KALMAN_FILTER_H
#define KALMAN_FILTER_H

#include <vreckoDP/PHANToM/PHANToM_Device.h>

#ifdef COMPILE_PHANTOM_DEVICE

//#include "kalman/ekfilter.hpp"

namespace vreckoDP_PHANToM {

// TODO: NOT READY

/* PHANToM filter to reduce noise and generally limit high frequency changes. */
class KalmanFilter : public PHANToMFilter {
public:
//  typedef Kalman::EKFilter<float, 0, false, false, false> PhantomFilter;

    KalmanFilter();

    virtual bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters);

    virtual void apply(PHANToMSTATE &pState, osg::Vec3 &force, osg::Vec3 &torque);

protected:
//  PhantomFilter filter;
};

}

#endif


#endif