Add State class

The State class contains the body and feature classes. It is responsible
for composing matrices, and performing Kalman updates.

1 files changed, 39 insertions, 0 deletions

diff --git a/src/state.h b/src/state.h
new file mode 100644
index 0000000..3a17ea5
--- /dev/null
+++ b/src/state.h
@@ -0,0 +1,39 @@
+#ifndef  state_INC
+#define  state_INC
+#include <Eigen/Dense>
+using Eigen::Matrix;
+/*
+ * =====================================================================================
+ *        Class:  State
+ *  Description:  
+ * =====================================================================================
+ */
+class State
+{
+    public:
+        /* ====================  LIFECYCLE     ======================================= */
+        State (){};                             /* constructor */
+
+        /* ====================  ACCESSORS     ======================================= */
+
+        /* ====================  MUTATORS      ======================================= */
+
+        /* ====================  OPERATORS     ======================================= */
+        void Pkk1 ( Matrix<double,9,9> &P, const Matrix<double,9,9> &F,
+            const Matrix<double,9,9> &Q );
+
+    protected:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+
+    private:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+
+}; /* -----  end of class State  ----- */
+
+
+
+#endif   /* ----- #ifndef state_INC  ----- */