Property.cpp
Go to the documentation of this file.00001 /* 00002 * Predicate.cpp 00003 * 00004 * Created on: Jan 12, 2012 00005 * Author: sdries 00006 */ 00007 00008 #include "wire/core/Property.h" 00009 #include "wire/core/IStateEstimator.h" 00010 00011 namespace mhf { 00012 00013 Property::Property(const Attribute& attribute, const IStateEstimator& bm, const ObjectID& object_id) 00014 : time_(0), attribute_(attribute), estimator_(bm.clone()) { 00015 } 00016 00017 Property::Property(const Property& orig) 00018 : time_(orig.time_), attribute_(orig.attribute_), estimator_(orig.estimator_->clone()) { 00019 } 00020 00021 Property::~Property() { 00022 delete estimator_; 00023 } 00024 00025 Property* Property::clone() const { 00026 return new Property(*this); 00027 } 00028 00029 Property& Property::operator=(const Property& other) { 00030 if (this != &other) { 00031 delete estimator_; 00032 time_ = other.time_; 00033 attribute_ = other.attribute_; 00034 estimator_ = other.estimator_->clone(); 00035 } 00036 00037 return *this; 00038 } 00039 00040 const Attribute& Property::getAttribute() const { 00041 return attribute_; 00042 } 00043 00044 const IStateEstimator& Property::getEstimator() const { 00045 return *estimator_; 00046 } 00047 00048 const pbl::PDF& Property::getValue() const { 00049 return estimator_->getValue(); 00050 } 00051 00052 void Property::update(const pbl::PDF& z, const Time& time) { 00053 if (time < time_) return; 00054 estimator_->update(z, time); 00055 time_ = time; 00056 } 00057 00058 void Property::propagate(const Time& time) { 00059 if (time < time_) return; 00060 estimator_->propagate(time); 00061 time_ = time; 00062 } 00063 00064 void Property::reset() { 00065 estimator_->reset(); 00066 } 00067 00068 double Property::getLikelihood(const pbl::PDF& pdf) const { 00069 return estimator_->getValue().getLikelihood(pdf); 00070 } 00071 00072 std::string Property::toString(const std::string& prefix) const { 00073 return estimator_->getValue().toString(); 00074 } 00075 00076 }