filter.h

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// $Id$
// Copyright (C) 2002 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                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
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 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
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#ifndef __FILTER__
#define __FILTER__

#include "../model/systemmodel.h"
#include "../model/measurementmodel.h"
#include "../pdf/pdf.h"

namespace BFL
{
  using namespace std;


  template <typename StateVar, typename MeasVar> class Filter
    {
    protected:

      Pdf<StateVar> * _prior;


      Pdf<StateVar> * _post;


      int _timestep;


      virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
                                  const StateVar& u,
                                  MeasurementModel<MeasVar,StateVar>* const measmodel,
                                  const MeasVar& z,
                                  const StateVar& s)=0;

    public:

      Filter(Pdf<StateVar> * prior);


      Filter(const Filter<StateVar,MeasVar>& filt);

      virtual ~Filter();

      virtual void Reset(Pdf<StateVar> * prior);


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


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

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

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


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

      virtual bool Update(SystemModel<StateVar>* const sysmodel);


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

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


      virtual Pdf<StateVar> * PostGet();


      int TimeStepGet() const;
    };

  // For template instantiation
#include "filter.cpp"

} // End namespace BFL

#endif // __FILTER__