/// <summary>
/// Read the initial state vector and covariance from the settings class.
/// Since state \f$ x_v \f$ and covariance \f$ P_{xx} \f$ are not stored in
/// the class, these are passed by reference to be filled in by this function.
/// </summary>
/// <param name="settings"></param>
/// <param name="initial_xv"></param>
/// <param name="initial_Pxx"></param>
public void read_initial_state(Settings settings,
ref Vector initial_xv,
ref MatrixFixed initial_Pxx)
{
ArrayList values;
// Check that the motion model is correct
values = settings.get_entry("InitialState", "MotionModel");
if ((String)values[0] != motion_model_type)
{
Debug.WriteLine("Attempted to read an initial state with a motion model of type " +
motion_model_type + " where the initialisation data in the [InitialState] section" +
" reports the type " + settings.get_entry("InitialState", "MotionModel") + ".");
//throw Scene::InitialisationError(error.str());
}
// Make sure the vector and matrix are the correct sizes
initial_xv = new Vector(STATE_SIZE);
initial_Pxx = new MatrixFixed(STATE_SIZE, STATE_SIZE);
//initial_xv.Resize(STATE_SIZE);
//initial_Pxx.Resize(STATE_SIZE, STATE_SIZE);
initial_xv.Fill(0.0f);
initial_Pxx.Fill(0.0f);
values = settings.get_entry("InitialState", "xv");
String xv_stream = (String)values[0];
initial_xv.ReadASCII(xv_stream);
values = settings.get_entry("InitialState", "Pxx");
String Pxx_stream = (String)values[0];
initial_Pxx.ReadASCII(Pxx_stream);
}
