backwardfilter.h
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00001 // $Id: backwardfilter.h 6736 2006-12-21 11:24:42Z tdelaet $
00002 // Copyright (C) 2006 Tinne De Laet <first dot last at mech dot kuleuven dot be>
00003 //
00004  /***************************************************************************
00005  *   This library is free software; you can redistribute it and/or         *
00006  *   modify it under the terms of the GNU General Public                   *
00007  *   License as published by the Free Software Foundation;                 *
00008  *   version 2 of the License.                                             *
00009  *                                                                         *
00010  *   As a special exception, you may use this file as part of a free       *
00011  *   software library without restriction.  Specifically, if other files   *
00012  *   instantiate templates or use macros or inline functions from this     *
00013  *   file, or you compile this file and link it with other files to        *
00014  *   produce an executable, this file does not by itself cause the         *
00015  *   resulting executable to be covered by the GNU General Public          *
00016  *   License.  This exception does not however invalidate any other        *
00017  *   reasons why the executable file might be covered by the GNU General   *
00018  *   Public License.                                                       *
00019  *                                                                         *
00020  *   This library is distributed in the hope that it will be useful,       *
00021  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00022  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00023  *   Lesser General Public License for more details.                       *
00024  *                                                                         *
00025  *   You should have received a copy of the GNU General Public             *
00026  *   License along with this library; if not, write to the Free Software   *
00027  *   Foundation, Inc., 59 Temple Place,                                    *
00028  *   Suite 330, Boston, MA  02111-1307  USA                                *
00029  *                                                                         *
00030  ***************************************************************************/
00031 
00032 #ifndef __BACKWARDFILTER__
00033 #define __BACKWARDFILTER__
00034 
00035 #include "../model/systemmodel.h"
00036 #include "../pdf/pdf.h"
00037 
00038 namespace BFL
00039 {
00040   using namespace std;
00041 
00043 
00059   template <typename StateVar> class BackwardFilter
00060     {
00061     protected:
00062 
00064       Pdf<StateVar> * _prior;
00065 
00067 
00069       Pdf<StateVar> * _post;
00070 
00072       int _timestep;
00073 
00075 
00079       virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
00080                                   const StateVar& u,
00081                                   Pdf<StateVar>* const filtered_post)=0;
00082 
00083     public:
00085 
00088       BackwardFilter(Pdf<StateVar> * prior);
00089 
00091       BackwardFilter(const BackwardFilter<StateVar>& filt);
00092 
00094       virtual ~BackwardFilter();
00095 
00097       virtual void Reset(Pdf<StateVar> * prior);
00098 
00100 
00104       virtual bool Update(SystemModel<StateVar>* const sysmodel,
00105               const StateVar& u,
00106               Pdf<StateVar>* const filtered_post);
00107 
00109 
00113       virtual bool Update(SystemModel<StateVar>* const sysmodel,
00114               Pdf<StateVar>* const filtered_post);
00115 
00117 
00120       virtual Pdf<StateVar> * PostGet();
00121 
00123 
00126       int TimeStepGet() const;
00127     };
00128 
00129   // For template instantiation
00130 #include "backwardfilter.cpp"
00131 
00132 } // End namespace BFL
00133 
00134 #endif // __BACKWARDFILTER__


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:52