sysmodel_vector.h

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/* Author: Wim Meeussen */

#ifndef SYSMODEL_VECTOR_H
#define SYSMODEL_VECTOR_H


#include "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:
  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:
  SysModelVector(const tf::Vector3& sigma)
    : SystemModel<tf::Vector3>(new SysPdfVector(sigma))
  {};

  ~SysModelVector()
  {
    delete SystemPdfGet();
  };

  // set time
  void SetDt(double dt)
  {
    ((SysPdfVector*)SystemPdfGet())->SetDt(dt);
  };

}; // class



} //namespace


#endif