base_filter.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
#pragma once
 
#include <string>
 
#include "Eigen/Core"
 
#include "cyber/common/macros.h"
#include "modules/perception/common/base/object.h"
 
namespace apollo {
namespace perception {
namespace radar {
 
class BaseFilter {
 public:
  BaseFilter() : name_("BaseFilter") {}
  virtual ~BaseFilter() {}
 
  virtual void Init(const base::Object& object) = 0;
 
  virtual Eigen::VectorXd Predict(double time_diff) = 0;
 
  virtual Eigen::VectorXd UpdateWithObject(const base::Object& new_object,
                                           double time_diff) = 0;
 
  virtual void GetState(Eigen::Vector3d* anchor_point,
                        Eigen::Vector3d* velocity) = 0;
 
  virtual Eigen::Matrix4d GetCovarianceMatrix() = 0;
 
  std::string Name() { return name_; }
 
 protected:
  std::string name_;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(BaseFilter);
};
 
}  // namespace radar
}  // namespace perception
}  // namespace apollo