sysmodel_vector.h
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #ifndef SYSMODEL_VECTOR_H
00038 #define SYSMODEL_VECTOR_H
00039 
00040 
00041 #include "gaussian_vector.h"
00042 #include <model/systemmodel.h>
00043 #include <pdf/conditionalpdf.h>
00044 #include <wrappers/matrix/matrix_wrapper.h>
00045 #include <string>
00046 
00047 namespace BFL
00048 {
00049 
00050 class SysPdfVector
00051   : public ConditionalPdf<tf::Vector3, tf::Vector3>
00052 {
00053 public:
00055   SysPdfVector(const tf::Vector3& sigma);
00056 
00058   virtual ~SysPdfVector();
00059 
00060   // set time
00061   void SetDt(double dt)
00062   {
00063     dt_ = dt;
00064   };
00065 
00066   // Redefining pure virtual methods
00067   virtual bool SampleFrom(BFL::Sample<tf::Vector3>& one_sample, int method, void *args) const;
00068   virtual tf::Vector3 ExpectedValueGet() const; // not applicable
00069   virtual Probability ProbabilityGet(const tf::Vector3& state) const; // not applicable
00070   virtual MatrixWrapper::SymmetricMatrix  CovarianceGet() const; // Not applicable
00071 
00072 
00073 private:
00074   GaussianVector noise_;
00075   double dt_;
00076 
00077 }; // class
00078 
00079 
00080 
00081 
00082 
00083 
00084 
00085 class SysModelVector
00086   : public SystemModel<tf::Vector3>
00087 {
00088 public:
00089   SysModelVector(const tf::Vector3& sigma)
00090     : SystemModel<tf::Vector3>(new SysPdfVector(sigma))
00091   {};
00092 
00094   ~SysModelVector()
00095   {
00096     delete SystemPdfGet();
00097   };
00098 
00099   // set time
00100   void SetDt(double dt)
00101   {
00102     ((SysPdfVector*)SystemPdfGet())->SetDt(dt);
00103   };
00104 
00105 }; // class
00106 
00107 
00108 
00109 } //namespace
00110 
00111 
00112 #endif


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autogenerated on Sat Jun 8 2019 18:40:22