asirfilter.h

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// Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
//
/***************************************************************************
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// $Id$

#ifndef __ASIR_FILTER__
#define __ASIR_FILTER__

#include "particlefilter.h"

namespace BFL
{


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

    public:

      ASIRFilter(MCPdf<StateVar> * prior,
                 int resampleperiod = 0,
                 double resamplethreshold = 0,
                 int resamplescheme = DEFAULT_RS);

      virtual ~ASIRFilter();

      // Default Copy constructor will do
    };

#include "asirfilter.cpp"

}

#endif // __ASIR_FILTER__