#ifndef _BAYES_FILTER_AVERAGE1#define _BAYES_FILTER_AVERAGE1/* * Bayes++ the Bayesian Filtering Library * Copyright (c) 2002 Michael Stevens * See accompanying Bayes++.htm for terms and conditions of use. * * $Id: average1.hpp 562 2006-04-05 20:46:23 +0200 (Wed, 05 Apr 2006) mistevens $ */ /* * Predefined filter: Average1_filter *  A single state averager *//* Filter namespace */namespace Bayesian_filter{template <class Filter_base>class Average1_filter{	Filter_base ksf;		// Kalman State Filter		typedef typename Filter_base::Float Float;	class Cpredict : public Linear_predict_model	// Constant predict model	{	public:		Cpredict(Float qq) : Linear_predict_model(1, 1)		{			Fx(0,0) = 1.;			q[0] = qq;			G(0,0) = 1.;		}	};	class Cobserve : public Linear_correlated_observe_model	// Constant observe model	{	public:		Cobserve(Float ZZ) : Linear_correlated_observe_model(1,1)		{			Hx(0,0) = 1.;			Z(0,0) = ZZ;		}	};public:	Average1_filter (Float iQ, Float iZ, Float z);	Average1_filter (Float iQ, Float iZ);	Float observe (Float zz);	operator Float () const	/* Returns filtered estimate	 */	{	if (!bInit)			ksf.error (Logic_exception("Average1 not init"));		return ksf.x[0];	}private:	Cpredict f;	Cobserve h;		bool bInit;	FM::Vec z;};template <typename Filter_base>Average1_filter<Filter_base>::Average1_filter (Float iQ, Float iZ, Float zz) :	ksf(1), f(iQ), h(iZ), z(1)/* Initialise noises and set sizes * include first observation zz */{	bInit = false;		observe (zz);}template <typename Filter_base>Average1_filter<Filter_base>::Average1_filter (Float iQ, Float iZ) :	ksf(1), f(iQ), h(iZ), z(1)// Initialise noises and set sizes{	bInit = false;}template <typename Filter_base>typename Average1_filter<Filter_base>::Float Average1_filter<Filter_base>::observe(Float zz)/* Observe z, first call set initial state to z * Returns filtered estimate */{	z[0] = zz;	if (!bInit) {		ksf.init_kalman (z, h.Z);		bInit = true;	}	ksf.predict(f);	ksf.observe(h, z);	ksf.update ();	return ksf.x[0];}}//namespace#endif