planeObserveModel.hpp

#ifndef PLANE_OBSERVE_MODEL
#define PLANE_OBSERVE_MODEL

#include "kernel/jafarException.hpp"
#include "filter/observeModel.hpp"
#include "jmath/jblas.hpp"

namespace jafar {
  namespace model3d {



    class PlaneObserveModel : public jafar::filter::JacobianImplicitObserveModel
    {
    public:
      

      PlaneObserveModel(std::size_t sizeObs_, 
      std::size_t sizeState_);

      ~PlaneObserveModel();

      virtual jblas::vec const& computeInnovation(const jblas::vec& x_,
                    const jblas::vec& z_);

      virtual void computeJacobian(const jblas::vec& x_,
           const jblas::vec& z_);

 
      jblas::vec m_h;

      int m_nPlaneType;
     
    };


  }// namespace model3d
} // namespace jafar

#endif // PLANE_OBSERVE_MODEL