From cf0e6520973c8d9ebf91443ff6e40f400db21bf6 Mon Sep 17 00:00:00 2001
From: kechxu <kechxu89@gmail.com>
Date: Mon, 17 Jul 2017 10:26:56 -0700
Subject: [PATCH] add some getters to kalmanFilter.h for future use.

---
 modules/common/math/kalman_filter.h | 42 +++++++++++++++++++++++++++++
 1 file changed, 42 insertions(+)

diff --git a/modules/common/math/kalman_filter.h b/modules/common/math/kalman_filter.h
index ac96acdae3..78ac3437df 100644
--- a/modules/common/math/kalman_filter.h
+++ b/modules/common/math/kalman_filter.h
@@ -134,6 +134,48 @@ class KalmanFilter {
    */
   void SetControlMatrix(const Eigen::Matrix<T, XN, UN>& B) { B_ = B; }
 
+  /**
+   * @brief Get the system transition function under zero control.
+   *
+   * @return Transition matrix.
+   */
+  const Eigen::Matrix<T, XN, XN>&  GetTransitionMatrix() { return F_; }
+
+  /**
+   * @brief Get the covariance matrix of the transition noise.
+   *
+   * @return Covariance matrix
+   */
+  const Eigen::Matrix<T, XN, XN>& GetTransitionNoise() { return Q_; }
+
+  /**
+   * @brief Get the observation matrix, which maps states to observations.
+   *
+   * @return Observation matrix
+   */
+  const Eigen::Matrix<T, ZN, XN>& GetObservationMatrix() { return H_; }
+
+  /**
+   * @brief Get the covariance matrix of the observation noise.
+   *
+   * @return Covariance matrix
+   */
+  const Eigen::Matrix<T, ZN, ZN>& GetObservationNoise() { return R_; }
+
+  /**
+   * @brief Get the covariance matrix of current state belief distribution.
+   *
+   * @return State covariance matrix
+   */
+  const Eigen::Matrix<T, XN, XN>& GetStateCovariance() { return P_; }
+
+  /**
+   * @brief Get the control matrix in the state transition rule.
+   *
+   * @return Control matrix
+   */
+  const Eigen::Matrix<T, XN, UN>& GetControlMatrix() { return B_; }
+
   /**
    * @brief Updates the state belief distribution given the control input u.
    *
-- 
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