text: // The MIT License (MIT)
  //
  // Copyright (c) 2015 Markus Herb
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  // THE SOFTWARE.
  #ifndef KALMAN_STANDARDBASE_HPP_
  #define KALMAN_STANDARDBASE_HPP_
  
  #include "Types.hpp"
  
  namespace Kalman {
      
      /**
       * @brief Abstract base class for standard (non-square root) filters and models
       * 
       * @param StateType The vector-type of the system state (usually some type derived from Kalman::Vector)
       */
      template<class StateType>
      class StandardBase
      {
      protected:
          //! Covariance
          Covariance<StateType> P;
          
      public:
          /**
           * Get covariance
           */
          const Covariance<StateType>& getCovariance() const
          {
              return P;
          }
          
          /**
           * Get covariance (as square root)
           */
          CovarianceSquareRoot<StateType> getCovarianceSquareRoot() const
          {
              return CovarianceSquareRoot<StateType>(P);
          }
          
          /**
           * Set Covariance
           */
          bool setCovariance(const Covariance<StateType>& covariance)
          {
              P = covariance;
              return true;
          }
          
      protected:
          StandardBase()
          {
              P.setIdentity();
          }
      };
  }
  
  #endif
  