sysmodel_vector.h

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/* Author: Wim Meeussen */

#ifndef PEOPLE_TRACKING_FILTER_SYSMODEL_VECTOR_H
#define PEOPLE_TRACKING_FILTER_SYSMODEL_VECTOR_H


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

namespace BFL
{

class SysPdfVector
  : public ConditionalPdf<tf::Vector3, tf::Vector3>
{
public:
  explicit SysPdfVector(const tf::Vector3& sigma);

  virtual ~SysPdfVector();

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

  // Redefining pure virtual methods
  virtual bool SampleFrom(BFL::Sample<tf::Vector3>& one_sample, int method, void *args) const;
  virtual tf::Vector3 ExpectedValueGet() const;  // not applicable
  virtual Probability ProbabilityGet(const tf::Vector3& state) const;  // not applicable
  virtual MatrixWrapper::SymmetricMatrix  CovarianceGet() const;  // Not applicable

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

class SysModelVector
  : public SystemModel<tf::Vector3>
{
public:
  explicit SysModelVector(const tf::Vector3& sigma)
    : SystemModel<tf::Vector3>(new SysPdfVector(sigma))
  {}

  ~SysModelVector()
  {
    delete SystemPdfGet();
  }

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