kalman_filters.h

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//                                                                                  //
//  Copyright (c) 2016-2025 Leonardo Consoni <leonardojc@protonmail.com>            //
//                                                                                  //
//  This file is part of Simple Kalman Filter.                                      //
//                                                                                  //
//  Simple Kalman Filter is free software: you can redistribute it and/or modify    //
//  it under the terms of the GNU Lesser General Public License as published        //
//  by the Free Software Foundation, either version 3 of the License, or            //
//  (at your option) any later version.                                             //
//                                                                                  //
//  Simple Kalman Filter is distributed in the hope that it will be useful,         //
//  but WITHOUT ANY WARRANTY; without even the implied warranty of                  //
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the                    //
//  GNU Lesser General Public License for more details.                             //
//                                                                                  //
//  You should have received a copy of the GNU Lesser General Public License        //
//  along with Simple Kalman Filter. If not, see <http://www.gnu.org/licenses/>.    //
//                                                                                  //
 
 
 
#ifndef KALMAN_FILTERS_H
#define KALMAN_FILTERS_H
 
 
typedef struct _KFilterData KFilterData;
typedef KFilterData* KFilter;
 
                                                                            
KFilter Kalman_CreateFilter( size_t statesNumber, size_t measurementsNumber, size_t inputsNumber );
 
void Kalman_DiscardFilter( KFilter filter );
                                                                  
void Kalman_SetInputFactor( KFilter filter, size_t stateIndex, size_t inputIndex, double ratio );
 
void Kalman_SetTransitionFactor( KFilter filter, size_t newStateIndex, size_t oldStateIndex, double ratio );
 
void Kalman_SetMeasureWeight( KFilter filter, size_t measureIndex, size_t stateIndex, double maxError );
 
void Kalman_SetMeasure( KFilter filter, size_t measureIndex, double value );
 
void Kalman_SetInput( KFilter filter, size_t inputIndex, double value );
 
double* Kalman_Predict( KFilter filter, double* inputsList, double* result );
 
double* Kalman_Update( KFilter filter, double* measuresList, double* result );
                                                                        
void Kalman_Reset( KFilter filter );
 
 
#endif  // KALMAN_FILTERS_H