sysmodel_pos_vel.h

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/* Author: Wim Meeussen */

#ifndef PEOPLE_TRACKING_FILTER_SYSMODEL_POS_VEL_H
#define PEOPLE_TRACKING_FILTER_SYSMODEL_POS_VEL_H


#include <people_tracking_filter/state_pos_vel.h>
#include <people_tracking_filter/gaussian_pos_vel.h>
#include <bfl/model/systemmodel.h>
#include <bfl/pdf/conditionalpdf.h>
#include <bfl/wrappers/matrix/matrix_wrapper.h>
#include <string>

namespace BFL
{
class SysPdfPosVel
  : public ConditionalPdf<StatePosVel, StatePosVel>
{
public:
  explicit SysPdfPosVel(const StatePosVel& sigma);

  virtual ~SysPdfPosVel();

  // set time
  void SetDt(double dt)
  {
    dt_ = dt;
  }

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

private:
  GaussianPosVel noise_;
  double dt_;
};  // class

class SysModelPosVel
  : public SystemModel<StatePosVel>
{
public:
  explicit SysModelPosVel(const StatePosVel& sigma)
    : SystemModel<StatePosVel>(new SysPdfPosVel(sigma))
  {}

  ~SysModelPosVel()
  {
    delete SystemPdfGet();
  }

  // set time
  void SetDt(double dt)
  {
    static_cast<SysPdfPosVel*>(SystemPdfGet())->SetDt(dt);
  }
};  // class
}  // namespace BFL
#endif  // PEOPLE_TRACKING_FILTER_SYSMODEL_POS_VEL_H