ParticleFilterFramework.h

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// ****************************************************************************
// Filename:  ParticleFilterFramework.h
// Author:    Pedram Azad
// Date:      2004
// ****************************************************************************

#ifndef __PARTICLE_FILTER_FRAMEWORK_H__
#define __PARTICLE_FILTER_FRAMEWORK_H__



// ****************************************************************************
// CParticleFilterFramework
// ****************************************************************************

class CParticleFilterFramework
{
public:
        // constructor
        CParticleFilterFramework(int nParticles, int nDimension);

        // destructor
        ~CParticleFilterFramework();


        // public methods
        double ParticleFilter(double *pResultMeanConfiguration, double dSigmaFactor = 1);
        double CalculateProbabilityForConfiguration(const double *pConfiguration);
        virtual void GetConfiguration(double *pBestConfiguration, double dMeanFactor);
        virtual void GetBestConfiguration(double *pBestConfiguration);
        virtual void GetMeanConfiguration(double *pMeanConfiguration);
        virtual void GetPredictedConfiguration(double *pPredictedConfiguration);


protected:
        // protected methods
        int PickBaseSample();
        void CalculateMean();

        // virtual methods (framework methods to be implemented: design pattern "framwork" with "template methods")
        virtual void UpdateModel(int nParticle) = 0;
        virtual void PredictNewBases(double dSigmaFactor) = 0;
        virtual double CalculateProbability(bool bSeparateCall = true) = 0;
        virtual void CalculateFinalProbabilities() { }
        

        // protected attributes
        double *mean_configuration;
        double *last_configuration;

        double *sigma;
        double *lower_limit;
        double *upper_limit;

        // particle related attributes
        int m_nDimension;
        int m_nParticles;
        double c_total;
        double **s;
        double **s_temp;
        double *c;
        double *pi;
        double *temp;
};



#endif /* __PARTICLE_FILTER_FRAMEWORK_H__ */