/* 
 *  Copyright 2002 by Soos, Antal 
 *  All rights reserved. Property of Soos, Antal. 
 *  Restricted rights to use, duplicate or disclose this code are 
 *  granted through contract.   
 */ 
/***************************************************************************/ 
/*                                                                         */ 
/*     KFA . hpp							   */ 
/*                                                                         */ 
/*     Recoursive Alternative Kalman Filter Algorithm inplementation.	   */ 
/*									   */ 
/*                                                                         */ 
/***************************************************************************/ 
 
#ifndef _KFA_HPP_ 
#define _KFA_HPP_ 
 
#include "sysIdent.hpp" 
 
class KFA_alg : public sysid { 
 

  Matrix P_KF; 
  Matrix Q; 
  Matrix k; 
  Matrix MtempA; // Temporary result holder matrix 
  Matrix MtempB; // Temporary result holder matrix 
  float R;
 
public: 
 
	void update(float y_n, float u_n_1); 
	KFA_alg(float r,float q, int is,int ia,int ib,int ic) ; 
	~KFA_alg(); 
}; 
 
 
#endif // _KFA_HPP_