mixtureBootstrapFilter.h
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00001 // Copyright (C) 2009 Tinne De Laet <first dot last at gmail dot com>
00002 // $Id: mixtureBoostrapFilter.h 2009-02-03 tdelaet $
00003 //
00004 /***************************************************************************
00005  *   This library is free software; you can redistribute it and/or         *
00006  *   modify it under the terms of the GNU General Public                   *
00007  *   License as published by the Free Software Foundation;                 *
00008  *   version 2 of the License.                                             *
00009  *                                                                         *
00010  *   As a special exception, you may use this file as part of a free       *
00011  *   software library without restriction.  Specifically, if other files   *
00012  *   instantiate templates or use macros or inline functions from this     *
00013  *   file, or you compile this file and link it with other files to        *
00014  *   produce an executable, this file does not by itself cause the         *
00015  *   resulting executable to be covered by the GNU General Public          *
00016  *   License.  This exception does not however invalidate any other        *
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00018  *   Public License.                                                       *
00019  *                                                                         *
00020  *   This library is distributed in the hope that it will be useful,       *
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00031 
00032 #ifndef __MIXTURE_BOOTSTRAP_FILTER__
00033 #define __MIXTURE_BOOTSTRAP_FILTER__
00034 
00035 #include "mixtureParticleFilter.h"
00036 
00037 namespace BFL
00038 {
00039 
00041 
00071 template <typename StateVar, typename MeasVar> class MixtureBootstrapFilter
00072   : public MixtureParticleFilter<StateVar,MeasVar>
00073 {
00074  protected:
00076   virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
00077                               const StateVar& u,
00078                               MeasurementModel<MeasVar,StateVar>* const measmodel,
00079                               const MeasVar& z,
00080                               const StateVar& s);
00081 
00082  public:
00084 
00092   MixtureBootstrapFilter(Mixture<StateVar> * prior,
00093                  int resampleperiod = 0,
00094                  double resamplethreshold = 0,
00095                  int resamplescheme = DEFAULT_RS,
00096          int maintainMixturePeriod = 1 );
00097 
00099 
00108   MixtureBootstrapFilter(Mixture<StateVar> * prior,
00109                   Mixture<StateVar> * post,
00110                  int resampleperiod = 0,
00111                  double resamplethreshold = 0,
00112                  int resamplescheme = DEFAULT_RS,
00113          int maintainMixturePeriod = 1 );
00114 
00116   virtual ~MixtureBootstrapFilter();
00117 
00118   // Default Copy constructor will do
00119 
00120 };
00121 
00122 #include "mixtureBootstrapFilter.cpp"
00123 
00124 }
00125 
00126 #endif // __MIXTURE_BOOTSTRAP_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 Fri Aug 28 2015 10:10:21