poly-estimator.hh

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/*
   Oscar Efrain RAMOS PONCE, LAAS-CNRS
   Date: 28/10/2014
   Object to estimate a polynomial that fits some data.
*/
 
#ifndef _POLY_ESTIMATOR_HH_
#define _POLY_ESTIMATOR_HH_
 
#include <Eigen/Dense>
#include <vector>
 
void pinv(const Eigen::MatrixXd& matrix_in, Eigen::MatrixXd& pseudo_inv,
          const double& pinvtoler = 1.0e-6);
 
class PolyEstimator {
 public:
  PolyEstimator(const unsigned int& order, const unsigned int& N,
                const double& dt);
 
  void estimate(std::vector<double>& estimee,
                const std::vector<double>& data_element, const double& time);
 
  virtual void estimate(std::vector<double>& estimee,
                        const std::vector<double>& data_element) = 0;
 
  virtual void estimateRecursive(std::vector<double>& estimee,
                                 const std::vector<double>& data_element,
                                 const double& time) = 0;
 
  virtual void getEstimateDerivative(std::vector<double>& estimeeDerivative,
                                     const unsigned int order) = 0;
 
  void setWindowLength(const unsigned int& N);
 
  unsigned int getWindowLength();
 
 protected:
  virtual void fit();
 
  virtual double getEsteeme() = 0;
 
  unsigned int order_;
 
  unsigned int N_;
 
  double dt_;
 
  bool dt_zero_;
 
  bool first_run_;
 
  std::vector<std::vector<double> > elem_list_;
 
  std::vector<double> time_list_;
 
  unsigned int pt_;
 
  Eigen::VectorXd coeff_;
 
  std::vector<double> t_;
 
  std::vector<double> x_;
 
  Eigen::MatrixXd R_;
};
 
#endif