measmodel_vector.h

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/* Author: Wim Meeussen */


#ifndef MEASMODEL_VECTOR_H
#define MEASMODEL_VECTOR_H

#include "tf/tf.h"
#include "gaussian_vector.h"
#include <model/measurementmodel.h>
#include <pdf/conditionalpdf.h>
#include <wrappers/matrix/matrix_wrapper.h>
#include <string>

namespace BFL
{

  class MeasPdfVector 
    : public BFL::ConditionalPdf<tf::Vector3, tf::Vector3>
  {
  public:
    MeasPdfVector(const tf::Vector3& sigma);
    
    virtual ~MeasPdfVector();
    
    // set covariance
    void CovarianceSet(const  MatrixWrapper::SymmetricMatrix& cov);

    // Redefining pure virtual methods
    virtual BFL::Probability ProbabilityGet(const tf::Vector3& input) const;
    virtual bool SampleFrom (BFL::Sample<tf::Vector3>& one_sample, int method, void *args) const;  // Not applicable
    virtual tf::Vector3 ExpectedValueGet() const; // Not applicable
    virtual MatrixWrapper::SymmetricMatrix  CovarianceGet() const; // Not applicable


  private:
    GaussianVector meas_noise_;
    
  }; // class
  





  class MeasModelVector
    : public BFL::MeasurementModel<tf::Vector3, tf::Vector3>
  {
  public:
    MeasModelVector(const tf::Vector3& sigma)
      : BFL::MeasurementModel<tf::Vector3, tf::Vector3>(new MeasPdfVector(sigma))
    {};

    ~MeasModelVector()
    {
      delete MeasurementPdfGet();
    };

  }; // class

} //namespace
  
  
#endif