IStateEstimator.h

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#ifndef WM_I_STATE_ESTIMATOR_H_
#define WM_I_STATE_ESTIMATOR_H_

#include "wire/core/datatypes.h"
#include "problib/pdfs/PDF.h"

namespace mhf {

class IStateEstimator {

public:

    virtual ~IStateEstimator() {}

    virtual IStateEstimator* clone() const = 0;

    virtual void propagate(const Time& time) = 0;

    virtual void update(const pbl::PDF& z, const Time& time) = 0;

    virtual void reset() = 0;

    virtual const pbl::PDF& getValue() const = 0;

//    /**
//     * @brief Resets the internal state of the estimator to the given PDF
//     * @param pdf The value to which the internal state is set
//     */
//    virtual void setValue(const pbl::PDF& pdf) {
//    }

    virtual bool setParameter(const std::string& param, bool b) {
        return false;
    }

    virtual bool setParameter(const std::string& param, double v) {
        return false;
    }

    virtual bool setParameter(const std::string& param, const std::string& s) {
        return false;
    }
};

}

#endif /* WM_I_STATE_ESTIMATOR_H_ */