bootstrapfilter.h

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

#ifndef __BOOTSTRAP_FILTER__
#define __BOOTSTRAP_FILTER__

#include "particlefilter.h"

namespace BFL
{


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

 public:

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


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

  virtual ~BootstrapFilter();

  // Default Copy constructor will do

};

#include "bootstrapfilter.cpp"

}

#endif // __BOOTSTRAP_FILTER__