CodeKalmanSolver.hpp

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#pragma ident "$Id: CodeKalmanSolver.hpp 1848 2009-04-07 10:04:52Z architest $"

#ifndef CODEKALMANSOLVER_HPP
#define CODEKALMANSOLVER_HPP

//============================================================================
//
//  This file is part of GPSTk, the GPS Toolkit.
//
//  The GPSTk 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 2.1 of the License, or
//  any later version.
//
//  The GPSTk 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 GPSTk; if not, write to the Free Software Foundation,
//  Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
//  Dagoberto Salazar - gAGE ( http://www.gage.es ). 2008, 2009
//
//============================================================================


#include "SolverLMS.hpp"
#include "StochasticModel.hpp"
#include "SimpleKalmanFilter.hpp"


namespace gpstk
{




   class CodeKalmanSolver : public SolverLMS
   {
   public:

      CodeKalmanSolver();


      CodeKalmanSolver(const gnssEquationDefinition& eqDef);


      virtual int Compute( const Vector<double>& prefitResiduals,
                           const Matrix<double>& designMatrix,
                           const Matrix<double>& weightMatrix )
         throw(InvalidSolver);


      virtual int Compute( const Vector<double>& prefitResiduals,
                           const Matrix<double>& designMatrix,
                           const Vector<double>& weightVector )
         throw(InvalidSolver);


      virtual gnssSatTypeValue& Process(gnssSatTypeValue& gData)
         throw(ProcessingException);


      virtual gnssRinex& Process(gnssRinex& gData)
         throw(ProcessingException);


      StochasticModel* getXCoordinatesModel() const
      { return pCoordXStoModel; };


      CodeKalmanSolver& setXCoordinatesModel(StochasticModel* pModel)
      { pCoordXStoModel = pModel; return (*this); };


      StochasticModel* getYCoordinatesModel() const
      { return pCoordYStoModel; };


      CodeKalmanSolver& setYCoordinatesModel(StochasticModel* pModel)
      { pCoordYStoModel = pModel; return (*this); };


      StochasticModel* getZCoordinatesModel() const
      { return pCoordZStoModel; };


      CodeKalmanSolver& setZCoordinatesModel(StochasticModel* pModel)
      { pCoordZStoModel = pModel; return (*this); };


      CodeKalmanSolver& setCoordinatesModel(StochasticModel* pModel);


      StochasticModel* getReceiverClockModel() const
      { return pClockStoModel; };


      CodeKalmanSolver& setReceiverClockModel(StochasticModel* pModel)
      { pClockStoModel = pModel; return (*this); };


      Matrix<double> getPhiMatrix() const
      { return phiMatrix; };


      CodeKalmanSolver& setPhiMatrix(const Matrix<double> & pMatrix)
      { phiMatrix = pMatrix; return (*this); };


      Matrix<double> getQMatrix() const
      { return qMatrix; };


      CodeKalmanSolver& setQMatrix(const Matrix<double> & pMatrix)
      { qMatrix = pMatrix; return (*this); };


      virtual int getIndex(void) const;


      virtual std::string getClassName(void) const;


      virtual ~CodeKalmanSolver() {};


   private:


      int numUnknowns;


      int numMeas;


      StochasticModel* pCoordXStoModel;


      StochasticModel* pCoordYStoModel;


      StochasticModel* pCoordZStoModel;


      StochasticModel* pClockStoModel;


      Matrix<double> phiMatrix;


      Matrix<double> qMatrix;


      Matrix<double> hMatrix;


      Matrix<double> rMatrix;


      Vector<double> measVector;


      SimpleKalmanFilter kFilter;


      void Init(void);


      StochasticModel constantModel;


      WhiteNoiseModel whitenoiseModel;


      static int classIndex;

      int index;

      void setIndex(void)
      { index = classIndex++; };


   }; // End of class 'CodeKalmanSolver'


}  // End of namespace gpstk
#endif   // CODEKALMANSOLVER_HPP

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