measurementmodel.h

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// $Id: measurementmodel.h 29830 2009-01-14 15:10:41Z kgadeyne $
// Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
//
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//
#ifndef __MEASUREMENT_MODEL__
#define __MEASUREMENT_MODEL__

#include "../pdf/conditionalpdf.h"

namespace BFL
{

#define NUMBER_OF_CONDITIONAL_ARGS 2

  template<typename MeasVar, typename StateVar> class MeasurementModel {
  protected:
    /* @bug Since, for now, the library only supports only conditional
       arguments of the same type, both X and U have to be of the same
       type (ie both continu or both discrete!).  I imagine there must
       be systems for which this approach is not general enough @see
       ConditionalPdf
    */
    ConditionalPdf<MeasVar,StateVar>* _MeasurementPdf;

    bool _systemWithoutSensorParams;

  public:

    MeasurementModel(ConditionalPdf<MeasVar,StateVar>* Measurementpdf=NULL);
    virtual ~MeasurementModel();

    int MeasurementSizeGet() const;

    bool SystemWithoutSensorParams() const;

    ConditionalPdf<MeasVar,StateVar> * MeasurementPdfGet();


    void MeasurementPdfSet(ConditionalPdf<MeasVar,StateVar> * pdf);


    MeasVar Simulate (const StateVar& x, const StateVar& s, int sampling_method = DEFAULT, void * sampling_args = NULL);


    MeasVar Simulate (const StateVar& x, int sampling_method = DEFAULT, void * sampling_args = NULL);


    Probability ProbabilityGet(const MeasVar& z, const StateVar& x, const StateVar& s );


    Probability ProbabilityGet(const MeasVar& z, const StateVar& x );
  };

#include "measurementmodel.cpp"

} // End namespace BFL

#endif // __MEASUREMENT_MODEL__