text: /*
   *  Copyright (c) 2018 Julian Soeren Lorenz, Carnegie Mellon University, All rights reserved.
   *
   *	Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
   *	following conditions are met:
   *
   *   	1. Redistributions of source code must retain the above copyright notice, this list of conditions and the
   *   	   following disclaimer.
   *   	2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
   *   	   following disclaimer in the documentation and/or other materials provided with the distribution.
   *   	3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote
   *   	   products derived from this software without specific prior written permission.
   *
   *	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *	INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   *	ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *	INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
   *	GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
   *	LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
   *	OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   *	END OF LICENSE
   *
   *	Author: Julian Soeren Lorenz
   *	Email:  JulianLorenz@live.de
   *
  */
  
  #ifndef FILTER_H
  #define FILTER_H
  
  #include <Eigen/Core>
  
  template <class OutputType, class InputType=OutputType> class Filter
  {
  public:
      Filter();
      //~Filter();
      virtual OutputType getValue(InputType newMeasurement) = 0;
      virtual OutputType getValue() = 0;
      virtual void addMeasurement(InputType newMeasurement) = 0;
  };
  
  #endif // FILTER_H
  