#ifndef KALMAN_H
#define KALMAN_H
#include "parameters.h"
#include "struct.h"
#include <QVector>
#include <Eigen/Dense>
using namespace Eigen;
using namespace std;


class kalman
{
public:

    void kalman_pred(float F[6][6], float Q[6][6], float X[6], float P[6][6], float X_pred[6], float P_pred[6][6]);

    void kalman_filter_init_2dots(float Z0[2], float Z1[2], float T,float X[4], float P[4][4]);//两点初始化卡尔曼滤波器


    float d_cal_track_init(float Z[2],float X[4],float P[4][4],float T);		//计算点 临时航迹的d

    float d_cal_track_init_with_doppler(float Z[2],float X[4],float P[4][4],float T,float vr,float prt,float freq_ind);

    float d_cal_track_init_EKF(float Z[3],float X[4],float P[4][4],float T,float prt,float freq_ind);

    void kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], float T1,float T2, float X[6], float P[6][6]);

    float d_cal(float Z[2],float X[6],float P[6][6]);

    float d_cal_with_doppler(float F[6][6], float Q[6][6] ,float Z[2],float X[6],float P[6][6],float vr,float prt,float freq_ind);

    float d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],float P[6][6],float prt,float freq_ind);

    void kalman_filter(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[2],float X_filter[6],float P_filter[6][6],float S_filter[2][2]);

    void kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[3],
                           float X_filter[6],float P_filter[6][6],float S_filter[2][2],
                           float prt,float freq_ind );

    float Bind_speed(float prt,float freq_ind);	//根据PRT 和 频率 计算不模糊速度

};
#endif // KALMAN_H