Property.h

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#ifndef PROPERTY_H_
#define PROPERTY_H_

#include "wire/core/datatypes.h"
#include "problib/pdfs/PDF.h"

#include <string>

namespace mhf {

class IStateEstimator;

class Property {

public:

    Property(const Attribute& attribute, const IStateEstimator& bm, const ObjectID& object_id = -1);

    Property(const Property& orig);

    virtual ~Property();

    Property* clone() const;

    Property& operator=(const Property& other);

    const Attribute& getAttribute() const;

    const IStateEstimator& getEstimator() const;

    const pbl::PDF& getValue() const;

    //void setObjectID(const ObjectID& id);

    const ObjectID& getObjectID() const;

    void update(const pbl::PDF& z, const Time& time);

    void propagate(const Time& time);

    void reset();

    virtual double getLikelihood(const pbl::PDF& pdf) const;

    std::string toString(const std::string& prefix = "") const;

protected:

    Time time_;

    //ObjectID object_id_;

    Attribute attribute_;

    IStateEstimator* estimator_;

};

}

#endif /* PREDICATE_H_ */