definitions.hpp

#ifndef DDF_DEFINITIONS_HPP
#define DDF_DEFINITIONS_HPP

#include <BayesFilter/bayesFlt.hpp>
#include "jmath/random.hpp"
#include "ctime.hpp"

namespace jafar
{
  namespace ddf
  {

#define PRED_NOISE_SIZE 4

#define TWOSIGMA_TO_VAR(ts) ((ts)*(ts)/4.0)
#define SIGMA_TO_VAR(ts) ((ts)*(ts))
#define VARPOS_TO_VARACC(varpos,h) (2.0 * (varpos)/ ((h)*(h)))
#define VARPOS_TO_VARVEL(varpos,h) (2.0 *(varpos)/(h))

const char LOGSEP = '\t';

    typedef enum{AXIS_X, AXIS_Y, AXIS_Z} AXIS_TYPE;

    typedef Bayesian_filter_matrix::SymMatrix MSYM;
    typedef Bayesian_filter_matrix::Vec       VEC;
    typedef Bayesian_filter_matrix::RowMatrix MROW;
    typedef Bayesian_filter_matrix::Matrix    MAT;
    typedef ublas::matrix<double>             MAT_UBLAS;

    class ParametersGeneric
    {
    public:
      jafar::ddf::time   h;
    };

    struct SpeedUpInfoStruct
    {
      VEC   v_sv;
      VEC   v_sv_1;
      VEC   v_z;
      MSYM  MS_sv;
      MSYM  MS_sv_1;
      MSYM  MS_z;
      MAT   M_sv_q_1;
      MAT   M_sv_q_2;
      MAT   M_sv_q_3;
      MAT   M_sv_q_4;
      MAT   M_sv_1;
      MAT   M_sv_2;
      MAT   M_q_1;
      MAT   M_q_2;
      MAT   M_q_3;
      MAT   M_q_4;
      MROW  M_sv_row;
   
      SpeedUpInfoStruct(unsigned short sv_size, unsigned short z_size, unsigned short q_size = 1):
        v_sv(sv_size),
        v_sv_1(sv_size),
        v_z(z_size),
        MS_sv(sv_size,sv_size),
        MS_sv_1(sv_size,sv_size),
        MS_z(z_size,z_size),
        M_sv_q_1(sv_size, q_size),
        M_sv_q_2(sv_size, q_size),
        M_sv_q_3(sv_size, sv_size),
        M_sv_q_4(sv_size, sv_size),
        M_sv_1(sv_size, sv_size),
        M_sv_2(sv_size, sv_size),
        M_q_1(q_size,q_size),
        M_q_2(q_size,q_size),
        M_q_3(q_size,q_size),
        M_q_4(q_size,q_size),
        M_sv_row(sv_size,sv_size){
        v_sv.clear();      v_sv_1.clear();   v_z.clear();   MS_sv.clear();    MS_sv_1.clear();     MS_z.clear();
        M_sv_q_1.clear();  M_sv_q_2.clear(); M_sv_q_3.clear(); M_sv_q_4.clear();
        M_sv_1.clear(); M_sv_2.clear();   M_q_1.clear();    M_q_2.clear();
        M_q_3.clear();     M_q_4.clear();    M_sv_row.clear();}
    };


  } // namespace ddf
} // namespace jafar
#endif