text: //
  // Created by Joost Aafjes on 22/10/2018.
  //
  
  #ifndef EXTENDEDKF_KALMAN_FILTER_STATE_H
  #define EXTENDEDKF_KALMAN_FILTER_STATE_H
  
  #include "../Eigen/Dense"
  
  class KalmanFilterState {
   public:
    // constructor
    KalmanFilterState();
  
    // state vector
    Eigen::VectorXd x_;
  
    // state covariance matrix
    Eigen::MatrixXd P_;
  
    // check whether the tracking toolbox was initialized or not (first measurement)
    bool is_initialized_;
  
    // previous timestamp
    long long previous_timestamp_;
  
    float dt;
  
    void Init(long long timestamp);
  
    void UpdateDateTime(long long timestamp);
  };
  
  #endif //EXTENDEDKF_KALMAN_FILTER_STATE_H
  