AugmentedProcessModel.h

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// Copyright 2015 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_AugmentedProcessModel_h_GUID_8A98A9D0_A8E4_4094_639A_25C4285B5F56
#define INCLUDED_AugmentedProcessModel_h_GUID_8A98A9D0_A8E4_4094_639A_25C4285B5F56

// Internal Includes
#include "AugmentedState.h"

// Library/third-party includes
// - none

// Standard includes
// - none
#include <type_traits>

namespace osvr {
namespace kalman {
    template <typename ModelA, typename ModelB> class AugmentedProcessModel {
      public:
        using ModelTypeA = ModelA;
        using ModelTypeB = ModelB;
        using StateA = typename ModelA::State;
        using StateB = typename ModelB::State;
        using State = AugmentedState<StateA, StateB>;

        AugmentedProcessModel(ModelTypeA &modA, ModelTypeB &modB)
            : a_(modA), b_(modB) {}

        AugmentedProcessModel(AugmentedProcessModel const &other) = default;

        AugmentedProcessModel(AugmentedProcessModel &&other)
            : a_(other.a_), b_(other.b_) {}
        AugmentedProcessModel &
        operator=(AugmentedProcessModel const &other) = delete;
        void predictState(State &state, double dt) {
            modelA().predictState(state.a(), dt);
            modelB().predictState(state.b(), dt);
        }

        ModelTypeA &modelA() { return a_; }
        ModelTypeA const &modelA() const { return a_; }

        ModelTypeB &modelB() { return b_; }
        ModelTypeB const &modelB() const { return b_; }
      private:
        ModelTypeA &a_;
        ModelTypeB &b_;
    };
    template <typename ModelA, typename ModelB>
    using DeducedAugmentedProcessModel =
        AugmentedProcessModel<typename std::remove_const<ModelA>::type,
                              typename std::remove_const<ModelB>::type>;

    template <typename ModelA, typename ModelB>
    inline DeducedAugmentedProcessModel<ModelA, ModelB>
    makeAugmentedProcessModel(ModelA &a, ModelB &b) {
        return DeducedAugmentedProcessModel<ModelA, ModelB>{a, b};
    }

} // namespace kalman
} // namespace osvr
#endif // INCLUDED_AugmentedProcessModel_h_GUID_8A98A9D0_A8E4_4094_639A_25C4285B5F56