sysmodel_pos_vel.h

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/* Author: Wim Meeussen */

#ifndef SYSMODEL_POS_VEL_H
#define SYSMODEL_POS_VEL_H


#include "state_pos_vel.h"
#include "gaussian_pos_vel.h"
#include <model/systemmodel.h>
#include <pdf/conditionalpdf.h>
#include <wrappers/matrix/matrix_wrapper.h>
#include <string>

namespace BFL
{

  class SysPdfPosVel 
    : public ConditionalPdf<StatePosVel, StatePosVel>
  {
  public:
    SysPdfPosVel(const StatePosVel& sigma);
    
    virtual ~SysPdfPosVel();
    
    // set time
    void SetDt(double dt) {dt_ = dt;};

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


  private:
    GaussianPosVel noise_;
    double dt_;

  }; // class
  






  class SysModelPosVel
    : public SystemModel<StatePosVel>
  {
  public:
    SysModelPosVel(const StatePosVel& sigma)
      :SystemModel<StatePosVel>(new SysPdfPosVel(sigma))
    {};

    ~SysModelPosVel()
    { delete SystemPdfGet(); };

    // set time
    void SetDt(double dt) {((SysPdfPosVel*)SystemPdfGet())->SetDt(dt);};

  }; // class
  

  
} //namespace
  
  
#endif