bootstrapfilter.h
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00001 // Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
00002 //
00003 /***************************************************************************
00004  *   This library is free software; you can redistribute it and/or         *
00005  *   modify it under the terms of the GNU General Public                   *
00006  *   License as published by the Free Software Foundation;                 *
00007  *   version 2 of the License.                                             *
00008  *                                                                         *
00009  *   As a special exception, you may use this file as part of a free       *
00010  *   software library without restriction.  Specifically, if other files   *
00011  *   instantiate templates or use macros or inline functions from this     *
00012  *   file, or you compile this file and link it with other files to        *
00013  *   produce an executable, this file does not by itself cause the         *
00014  *   resulting executable to be covered by the GNU General Public          *
00015  *   License.  This exception does not however invalidate any other        *
00016  *   reasons why the executable file might be covered by the GNU General   *
00017  *   Public License.                                                       *
00018  *                                                                         *
00019  *   This library is distributed in the hope that it will be useful,       *
00020  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00021  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00022  *   Lesser General Public License for more details.                       *
00023  *                                                                         *
00024  *   You should have received a copy of the GNU General Public             *
00025  *   License along with this library; if not, write to the Free Software   *
00026  *   Foundation, Inc., 59 Temple Place,                                    *
00027  *   Suite 330, Boston, MA  02111-1307  USA                                *
00028  *                                                                         *
00029  ***************************************************************************/
00030 // $Id: bootstrapfilter.h 29830 2009-01-14 15:10:41Z kgadeyne $
00031 
00032 #ifndef __BOOTSTRAP_FILTER__
00033 #define __BOOTSTRAP_FILTER__
00034 
00035 #include "particlefilter.h"
00036 
00037 namespace BFL
00038 {
00039 
00041 
00071 template <typename StateVar, typename MeasVar> class BootstrapFilter
00072   : public ParticleFilter<StateVar,MeasVar>
00073 {
00074  protected:
00076   virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
00077                               const StateVar& u,
00078                               MeasurementModel<MeasVar,StateVar>* const measmodel,
00079                               const MeasVar& z,
00080                               const StateVar& s);
00081 
00082  public:
00084 
00091   BootstrapFilter(MCPdf<StateVar> * prior,
00092                  int resampleperiod = 0,
00093                  double resamplethreshold = 0,
00094                  int resamplescheme = DEFAULT_RS);
00095 
00097 
00105   BootstrapFilter(MCPdf<StateVar> * prior,
00106                   MCPdf<StateVar> * post,
00107                  int resampleperiod = 0,
00108                  double resamplethreshold = 0,
00109                  int resamplescheme = DEFAULT_RS);
00110 
00112   virtual ~BootstrapFilter();
00113 
00114   // Default Copy constructor will do
00115 
00116 };
00117 
00118 #include "bootstrapfilter.cpp"
00119 
00120 }
00121 
00122 #endif // __BOOTSTRAP_FILTER__


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