mixtureBootstrapFilter.h

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// Copyright (C) 2009 Tinne De Laet <first dot last at gmail dot com>
// $Id: mixtureBoostrapFilter.h 2009-02-03 tdelaet $
//
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#ifndef __MIXTURE_BOOTSTRAP_FILTER__
#define __MIXTURE_BOOTSTRAP_FILTER__

#include "mixtureParticleFilter.h"

namespace BFL
{


template <typename StateVar, typename MeasVar> class MixtureBootstrapFilter
  : public MixtureParticleFilter<StateVar,MeasVar>
{
 protected:
  virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
                              const StateVar& u,
                              MeasurementModel<MeasVar,StateVar>* const measmodel,
                              const MeasVar& z,
                              const StateVar& s);

 public:

  MixtureBootstrapFilter(Mixture<StateVar> * prior,
                 int resampleperiod = 0,
                 double resamplethreshold = 0,
                 int resamplescheme = DEFAULT_RS,
         int maintainMixturePeriod = 1 );


  MixtureBootstrapFilter(Mixture<StateVar> * prior,
                  Mixture<StateVar> * post,
                 int resampleperiod = 0,
                 double resamplethreshold = 0,
                 int resamplescheme = DEFAULT_RS,
         int maintainMixturePeriod = 1 );

  virtual ~MixtureBootstrapFilter();

  // Default Copy constructor will do

};

#include "mixtureBootstrapFilter.cpp"

}

#endif // __MIXTURE_BOOTSTRAP_FILTER__