MerweUKF.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/SymbolExports.h>
 
#include "frc/estimator/MerweScaledSigmaPoints.h"
#include "frc/estimator/UnscentedKalmanFilter.h"
 
namespace frc {
 
template <int States, int Inputs, int Outputs>
using MerweUKF = UnscentedKalmanFilter<States, Inputs, Outputs,
                                       MerweScaledSigmaPoints<States>>;
 
// Because MerweUKF is a type alias and not a class, we have to use
// UnscentedKalmanFilter instead
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
    UnscentedKalmanFilter<3, 3, 1, MerweScaledSigmaPoints<3>>;
extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
    UnscentedKalmanFilter<5, 3, 3, MerweScaledSigmaPoints<5>>;
 
}  // namespace frc