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00019 #ifndef __HISTOGRAM_FILTER__
00020 #define __HISTOGRAM_FILTER__
00021
00022 #include "filter.h"
00023 #include "../pdf/discretepdf.h"
00024 #include "../model/measurementmodel.h"
00025 #include "../model/discretesystemmodel.h"
00026
00027 namespace BFL
00028 {
00029
00031
00049 template <typename MeasVar> class HistogramFilter : public Filter<int,MeasVar>
00050 {
00051 public:
00053
00056 HistogramFilter(DiscretePdf* prior);
00057
00059 virtual ~HistogramFilter();
00060
00061
00062 virtual DiscretePdf* PostGet();
00063
00064 protected:
00066 vector<Probability > _old_prob;
00068 vector<Probability > _new_prob;
00069
00074 void SysUpdate(SystemModel<int>* const sysmodel,
00075 const int& u);
00076
00078
00086 void MeasUpdate(MeasurementModel<MeasVar,int>* const measmodel,
00087 const MeasVar& z,
00088 const int& s);
00089
00090 bool UpdateInternal(SystemModel<int>* const sysmodel,
00091 const int& u,
00092 MeasurementModel<MeasVar,int>* const measmodel,
00093 const MeasVar& z,
00094 const int& s);
00095 };
00096
00097
00098 #include "histogramfilter.cpp"
00099
00100 }
00101
00102 #endif // __HISTOGRAM_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