LinearTransform.hpp

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/* This file is part of OpenKalman, a header-only C++ library for
 * Kalman filters and other recursive filters.
 *
 * Copyright (c) 2017-2021 Christopher Lee Ogden <ogden@gatech.edu>
 *
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at https://mozilla.org/MPL/2.0/.
 */

#ifndef OPENKALMAN_LINEARTRANSFORM_HPP
#define OPENKALMAN_LINEARTRANSFORM_HPP


namespace OpenKalman
{
  namespace oin = OpenKalman::internal;

  class LinearTransform : public oin::LinearTransformBase<LinearTransform>
  {
    using Base = oin::LinearTransformBase<LinearTransform>;
    friend Base;


    template<typename Trans>
    struct TransformModel
    {

    private:

      const Trans& transformation;

    public:

      TransformModel(const Trans& t) : transformation(t) {}


      template<typename InputMean, typename ... NoiseMean>
      auto operator()(const InputMean& x, const NoiseMean& ... n) const
      {
        return std::tuple {transformation(x, n...), oin::get_Taylor_term<1>(transformation)(x, n...)};
      }

    };


  };

}


#endif //OPENKALMAN_LINEARTRANSFORM_HPP