histogramfilter.h

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// $Id: histogramfilter.h 14935 2007-12-17  $
// Copyright (C) 2007 Tinne De Laet  <tinne dot delaet at mech dot kuleuven dot be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#ifndef __HISTOGRAM_FILTER__
#define __HISTOGRAM_FILTER__

#include "filter.h"
#include "../pdf/discretepdf.h"
#include "../model/measurementmodel.h"
#include "../model/discretesystemmodel.h"

namespace BFL
{


template <typename MeasVar> class HistogramFilter : public Filter<int,MeasVar>
{
public:

  HistogramFilter(DiscretePdf* prior);

  virtual ~HistogramFilter();

  // implement virtual function
  virtual DiscretePdf* PostGet();

protected:
  vector<Probability > _old_prob;
  vector<Probability > _new_prob;

  void SysUpdate(SystemModel<int>* const sysmodel,
                         const int& u);


  void MeasUpdate(MeasurementModel<MeasVar,int>* const measmodel,
                          const MeasVar& z,
                          const int& s);

  bool UpdateInternal(SystemModel<int>* const sysmodel,
                              const int& u,
                              MeasurementModel<MeasVar,int>* const measmodel,
                              const MeasVar& z,
                              const int& s);
}; // class


#include "histogramfilter.cpp"

} // End namespace BFL

#endif // __HISTOGRAM_FILTER__