DiscreteFilter.cpp

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#include "DiscreteFilter.h"

int DiscreteFilter::N_DISCRETEKALMAN_FILTER = 0;

DiscreteFilter::DiscreteFilter() {
        ++N_DISCRETEKALMAN_FILTER;
}

DiscreteFilter::DiscreteFilter(const DiscreteFilter& orig) : IStateEstimator(orig), pmf_(orig.pmf_) {
        ++N_DISCRETEKALMAN_FILTER;
}

DiscreteFilter::~DiscreteFilter() {
    --N_DISCRETEKALMAN_FILTER;
}

DiscreteFilter* DiscreteFilter::clone() const {
        return new DiscreteFilter(*this);
}

void DiscreteFilter::propagate(const mhf::Time& time) {
}

void DiscreteFilter::update(const pbl::PDF& z, const mhf::Time& time) {
        assert(z.type() == pbl::PDF::DISCRETE);
        const pbl::PMF* pmf = pbl::PDFtoPMF(z);
        pmf_.update(*pmf);
}

void DiscreteFilter::reset() {
    pmf_ = pbl::PMF();
}

const pbl::PDF& DiscreteFilter::getValue() const {
        return pmf_;
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS( wire_state_estimators, DiscreteEstimator, DiscreteFilter, mhf::IStateEstimator )