ParticleFilterFrameworkFloat.h

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// Filename:  ParticleFilterFrameworkFloat.h
// Author:    Pedram Azad
// Date:      07.05.2009
// ****************************************************************************


#ifndef __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__
#define __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__



// ****************************************************************************
// CParticleFilterFrameworkFloat
// ****************************************************************************

class CParticleFilterFrameworkFloat
{
public:
        // constructor
        CParticleFilterFrameworkFloat(int nParticles, int nDimension);

        // destructor
        ~CParticleFilterFrameworkFloat();


        // public methods
        double ParticleFilter(float *pResultMeanConfiguration, float fSigmaFactor = 1.0f);
        double CalculateProbabilityForConfiguration(const float *pConfiguration);
        virtual void GetConfiguration(float *pBestConfiguration, float fMeanFactor);
        virtual void GetBestConfiguration(float *pBestConfiguration);
        virtual void GetMeanConfiguration(float *pMeanConfiguration);
        virtual void GetPredictedConfiguration(float *pPredictedConfiguration);


protected:
        // protected methods
        int PickBaseSample();
        void CalculateMean();

        // virtual methods (framework methods to be implemented: design pattern "framwork" with "template methods")
        virtual void UpdateModel(int nParticle) = 0;
        virtual void PredictNewBases(float fSigmaFactor) = 0;
        virtual double CalculateProbability(bool bSeparateCall = true) = 0;
        virtual void CalculateFinalProbabilities() { }
        

        // protected attributes
        float *mean_configuration;
        float *last_configuration;

        float *sigma;
        float *lower_limit;
        float *upper_limit;

        // particle related attributes
        int m_nDimension;
        int m_nParticles;
        double c_total;
        float **s;
        float **s_temp;
        double *c;
        double *pi;
        float *temp;
};



#endif /* __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__ */