Base_MatchingEngine.h

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//     Authors:
// Anselmo Cervera, Juan J. Gomez-Cadenas and Jose Angel Hernando

#ifndef MatchingEngine_h
#define MatchingEngine_h 1

//! ITrajectory
#include "Kalman/Interface_ITrajectory.h"
#include "Kalman/Base_Navigator.h"


class MatchingEngine   
{
public:
      
  
  //! default constructor
  MatchingEngine(Navigator* nav) {m_navigator = nav;}
  
  //! default destructor
  virtual ~MatchingEngine(){};


  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2,
               EVector& res);

  
  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2){
    EVector res;
    return matchTrajectories(traj1, traj2, res);
  }

  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2,
               const EMatrix& H);


  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2,
               const ISurface& surf,
               EVector& res);


  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2,
               const ISurface& surf){
    EVector res;
    return matchTrajectories(traj1, traj2, surf, res);
  }
    
  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2,
               const ISurface& surf,
               const EMatrix& H){
    EVector res;
    return matchTrajectories(traj1, traj2, surf,H, res);
  }

  double matchTrajectories(const ITrajectory& traj1,
               const ITrajectory& traj2,
               const ISurface& surf,
               const EMatrix& H,
               EVector& res);


  double matchMeasTrajectory(const IMeasurement& meas, 
                 const ITrajectory& traj,
                 const EMatrix& H,
                 EVector& res);  

  double matchMeasTrajectory(const IMeasurement& meas, 
                 const ITrajectory& traj,
                 const EMatrix& H){
    EVector res;
    return matchMeasTrajectory(meas, traj, H, res);
  }



  double matchMeasTrajectory(const IMeasurement& meas, 
                 const ITrajectory& traj,
                 EVector& res);  

  double matchMeasTrajectory(const IMeasurement& meas, 
                 const ITrajectory& traj){
    EVector res;
    return matchMeasTrajectory(meas, traj, res);
  }


  double matchMeasState(const IMeasurement& meas, 
            const IState& state,
            const EMatrix& H,
            EVector& res);


  double matchMeasState(const IMeasurement& meas, 
            const IState& state,
            EVector& res);

  double matchMeasState(const IMeasurement& meas, 
            const IState& state){
    EVector res;
    return matchMeasState(meas, state, res);
  }



  double matchStateTrajectory(const IState& state, 
                  const ITrajectory& traj,
                  const ISurface& surf, 
                  EVector& res); 

  double matchStateTrajectory(const IState& state, 
                  const ITrajectory& traj,
                  const ISurface& surf,
                  const EMatrix& H,
                  EVector& res); 

  //! set  verbosity 
  void setVerbosity(int v){m_verbosity = v;}
  //! return verbosity 
  int verbosity() const {return m_verbosity;}  

 protected:
  
  //! returns the navigator
  Navigator& navigator() {return *m_navigator;}

 protected:

  Navigator* m_navigator;
  // Verbosity

  int m_verbosity; 
 
};
#endif

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