/*
 *  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.  
 */
/***************************************************************************/
/*                                                                         */
/*     WCE . hpp		                                           */
/*                                                                         */
/*     Recoursive Worst Case estimtion Algorithm inplementation.           */
/*                                                                         */
/*                                                                         */
/***************************************************************************/

#ifndef _WCE_HPP_
#define _WCE_HPP_

#include "sysIdent.hpp"
#include <cstdlib>


class WCE_alg : public sysid {
	Matrix P_WCE; //Estimated error covariance matrix 

	Matrix MtempA; // Temporary result holder matrix
	Matrix MtempB; // Temporary result holder matrix

	float delta; // maximum error max(v)
	
public:

	void update(float y_n, float u_n_1);
	WCE_alg(float delta_WCE,int is,int ia,int ib,int ic) ;
	~WCE_alg();
};


#endif // _WCE_HPP_