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00032 #ifndef __FILTER__
00033 #define __FILTER__
00034
00035 #include "../model/systemmodel.h"
00036 #include "../model/measurementmodel.h"
00037 #include "../pdf/pdf.h"
00038
00039 namespace BFL
00040 {
00041 using namespace std;
00042
00044
00077 template <typename StateVar, typename MeasVar> class Filter
00078 {
00079 protected:
00080
00082 Pdf<StateVar> * _prior;
00083
00085
00095 Pdf<StateVar> * _post;
00096
00098
00100 int _timestep;
00101
00103
00109 virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
00110 const StateVar& u,
00111 MeasurementModel<MeasVar,StateVar>* const measmodel,
00112 const MeasVar& z,
00113 const StateVar& s)=0;
00114
00115 public:
00117
00120 Filter(Pdf<StateVar> * prior);
00121
00123
00125 Filter(const Filter<StateVar,MeasVar>& filt);
00126
00128 virtual ~Filter();
00129
00131 virtual void Reset(Pdf<StateVar> * prior);
00132
00134
00140 virtual bool Update(SystemModel<StateVar>* const sysmodel,
00141 const StateVar& u,
00142 MeasurementModel<MeasVar,StateVar>* const measmodel,
00143 const MeasVar& z,
00144 const StateVar& s);
00145
00147
00154 virtual bool Update(SystemModel<StateVar>* const sysmodel,
00155 MeasurementModel<MeasVar,StateVar>* const measmodel,
00156 const MeasVar& z,
00157 const StateVar& s);
00159
00165 virtual bool Update(SystemModel<StateVar>* const sysmodel,
00166 MeasurementModel<MeasVar,StateVar>* const measmodel,
00167 const MeasVar& z);
00169
00175 virtual bool Update(SystemModel<StateVar>* const sysmodel,
00176 const StateVar& u,
00177 MeasurementModel<MeasVar,StateVar>* const measmodel,
00178 const MeasVar& z);
00179
00181
00184 virtual bool Update(SystemModel<StateVar>* const sysmodel,
00185 const StateVar& u);
00187
00189 virtual bool Update(SystemModel<StateVar>* const sysmodel);
00190
00192
00197 virtual bool Update(MeasurementModel<MeasVar,StateVar>* const measmodel,
00198 const MeasVar& z,
00199 const StateVar& s);
00201
00205 virtual bool Update(MeasurementModel<MeasVar,StateVar>* const measmodel,
00206 const MeasVar& z);
00207
00209
00212 virtual Pdf<StateVar> * PostGet();
00213
00215
00218 int TimeStepGet() const;
00219 };
00220
00221
00222 #include "filter.cpp"
00223
00224 }
00225
00226 #endif // __FILTER__
bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:52