backwardfilter.h

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// $Id: backwardfilter.h 6736 2006-12-21 11:24:42Z tdelaet $
// Copyright (C) 2006 Tinne De Laet <first dot last at mech dot kuleuven dot be>
//
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#ifndef __BACKWARDFILTER__
#define __BACKWARDFILTER__

#include "../model/systemmodel.h"
#include "../pdf/pdf.h"

namespace BFL
{
  using namespace std;


  template <typename StateVar> class BackwardFilter
    {
    protected:

      Pdf<StateVar> * _prior;


      Pdf<StateVar> * _post;

      int _timestep;


      virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
                                  const StateVar& u,
                                  Pdf<StateVar>* const filtered_post)=0;

    public:

      BackwardFilter(Pdf<StateVar> * prior);

      BackwardFilter(const BackwardFilter<StateVar>& filt);

      virtual ~BackwardFilter();

      virtual void Reset(Pdf<StateVar> * prior);


      virtual bool Update(SystemModel<StateVar>* const sysmodel,
              const StateVar& u,
              Pdf<StateVar>* const filtered_post);


      virtual bool Update(SystemModel<StateVar>* const sysmodel,
              Pdf<StateVar>* const filtered_post);


      virtual Pdf<StateVar> * PostGet();


      int TimeStepGet() const;
    };

  // For template instantiation
#include "backwardfilter.cpp"

} // End namespace BFL

#endif // __BACKWARDFILTER__