sysmodel_vector.h

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/* Author: Wim Meeussen */

#ifndef SYSMODEL_VECTOR_H
#define SYSMODEL_VECTOR_H


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

namespace BFL
{

  class SysPdfVector 
    : public ConditionalPdf<tf::Vector3, tf::Vector3>
  {
  public:
    SysPdfVector(const tf::Vector3& sigma);
    
    virtual ~SysPdfVector();
    
    // set time
    void SetDt(double dt) {dt_ = dt;};

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


  private:
    GaussianVector noise_;
    double dt_;

  }; // class
  






  class SysModelVector
    : public SystemModel<tf::Vector3>
  {
  public:
    SysModelVector(const tf::Vector3& sigma)
      :SystemModel<tf::Vector3>(new SysPdfVector(sigma))
    {};

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

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

  }; // class
  

  
} //namespace
  
  
#endif