Add Filter class.

This is not tested to be working yet.

1 files changed, 50 insertions, 0 deletions

diff --git a/src/filter.h b/src/filter.h
new file mode 100644
index 0000000..fdd7777
--- /dev/null
+++ b/src/filter.h
@@ -0,0 +1,50 @@
+#ifndef  filter_INC
+#define  filter_INC
+
+#include <Eigen/Dense>
+#include <iostream>
+#include <list>
+
+using Eigen::Dynamic;
+using Eigen::Matrix;
+using Eigen::MatrixXd;
+using Eigen::VectorXd;
+using Eigen::Vector3d;
+using std::list;
+
+/*
+ * =====================================================================================
+ *        Class:  Filter
+ *  Description:  
+ * =====================================================================================
+ */
+class Filter
+{
+    public:
+        /* ====================  LIFECYCLE     ======================================= */
+        Filter (const VectorXd &b, const VectorXd &a);                             /* constructor */
+
+        /* ====================  ACCESSORS     ======================================= */
+        MatrixXd listToMatrix();
+
+        /* ====================  MUTATORS      ======================================= */
+
+        /* ====================  OPERATORS     ======================================= */
+        Vector3d update( const Vector3d &x);
+
+    protected:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+
+    private:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+        Matrix<double, Dynamic, 3> y;
+        Matrix<double,Dynamic,1> F;
+        list<Vector3d> X,Y;
+
+}; /* -----  end of class Filter  ----- */
+
+#endif   /* ----- #ifndef filter_INC  ----- */