conditional_probability_distributions.h

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// Author(s): Kaijen Hsiao

#ifndef CONDITIONAL_PROB_DIST_H_
#define CONDITIONAL_PROB_DIST_H_

#include <boost/shared_ptr.hpp>
using boost::shared_ptr;

namespace probabilistic_grasp_planner {

class ConditionalProbabilityDistributions
{
public:
  virtual void evaluateConditionalProbs(double quality, double &success_cond_prob, double &failure_cond_prob) = 0;
};
typedef boost::shared_ptr<ConditionalProbabilityDistributions> ConditionalProbabilityDistributionsPtr;


class GaussianCPD : public ConditionalProbabilityDistributions
{
protected:
  double success_mean_;
  double success_std_;
  double failure_mean_;
  double failure_std_;
public:
  GaussianCPD(double success_mean, double success_std, double failure_mean, double failure_std) :
    success_mean_(success_mean),success_std_(success_std),failure_mean_(failure_mean),failure_std_(failure_std) {}

  virtual void evaluateConditionalProbs(double quality, double &success_cond_prob, double &failure_cond_prob) = 0; 
};               
typedef boost::shared_ptr<GaussianCPD> GaussianCPDPtr;
  
} //namespace

#endif