optimalimportancefilter.h

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

 /***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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// $Id$

#ifndef __OPTIMALIMPORTANCE_FILTER__
#define __OPTIMALIMPORTANCE_FILTER__

#include "particlefilter.h"

namespace BFL
{


template <typename StateVar, typename MeasVar> class Optimalimportancefilter
  : public ParticleFilter<StateVar,MeasVar>
{
 protected:

  virtual void ConstructProposal(SystemModel<StateVar>* const sysmodel,
                                 MeasurementModel<MeasVar,StateVar>* const measmodel);

 public:

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

  virtual ~OptimalImportanceFilter();
  OptimalImportanceFilter(const OptimalImportanceFilter<StateVar,MeasVar> & filt);

  virtual void Update(SystemModel<StateVar>* const sysmodel,
                      const StateVar& u,
                      MeasurementModel<MeasVar,StateVar>* const measmodel,
                      const MeasVar& z,
                      const StateVar& s);
  virtual void Update(SystemModel<StateVar>* const sysmodel,
                      MeasurementModel<MeasVar,StateVar>* const measmodel,
                      const MeasVar& z,
                      const StateVar& s);
  virtual void Update(SystemModel<StateVar>* const sysmodel,
                      MeasurementModel<MeasVar,StateVar>* const measmodel,
                      const MeasVar& z);
  virtual void Update(SystemModel<StateVar>* const sysmodel,
                      const StateVar& u,
                      MeasurementModel<MeasVar,StateVar>* const measmodel,
                      const MeasVar& z);

  virtual void Update(SystemModel<StateVar>* const sysmodel,
                      const StateVar& u);
  virtual void Update(SystemModel<StateVar>* const sysmodel);

  virtual void Update(MeasurementModel<MeasVar,StateVar>* const measmodel,
                      const MeasVar& z,
                      const StateVar& s);
  virtual void Update(MeasurementModel<MeasVar,StateVar>* const measmodel,
                      const MeasVar& z);
};

#include "optimalimportancefilter.cpp"

}

#endif // __OPTIMALIMPORTANCE_FILTER__