00001 // $Id: measurementmodel.h 29830 2009-01-14 15:10:41Z kgadeyne $ 00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com> 00003 // 00004 /*************************************************************************** 00005 * This library is free software; you can redistribute it and/or * 00006 * modify it under the terms of the GNU General Public * 00007 * License as published by the Free Software Foundation; * 00008 * version 2 of the License. * 00009 * * 00010 * As a special exception, you may use this file as part of a free * 00011 * software library without restriction. Specifically, if other files * 00012 * instantiate templates or use macros or inline functions from this * 00013 * file, or you compile this file and link it with other files to * 00014 * produce an executable, this file does not by itself cause the * 00015 * resulting executable to be covered by the GNU General Public * 00016 * License. This exception does not however invalidate any other * 00017 * reasons why the executable file might be covered by the GNU General * 00018 * Public License. * 00019 * * 00020 * This library is distributed in the hope that it will be useful, * 00021 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00022 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00023 * Lesser General Public License for more details. * 00024 * * 00025 * You should have received a copy of the GNU General Public * 00026 * License along with this library; if not, write to the Free Software * 00027 * Foundation, Inc., 59 Temple Place, * 00028 * Suite 330, Boston, MA 02111-1307 USA * 00029 * * 00030 ***************************************************************************/ 00031 // 00032 #ifndef __MEASUREMENT_MODEL__ 00033 #define __MEASUREMENT_MODEL__ 00034 00035 #include "../pdf/conditionalpdf.h" 00036 00037 namespace BFL 00038 { 00039 00040 #define NUMBER_OF_CONDITIONAL_ARGS 2 00041 00053 template<typename MeasVar, typename StateVar> class MeasurementModel { 00054 protected: 00056 /* @bug Since, for now, the library only supports only conditional 00057 arguments of the same type, both X and U have to be of the same 00058 type (ie both continu or both discrete!). I imagine there must 00059 be systems for which this approach is not general enough @see 00060 ConditionalPdf 00061 */ 00062 ConditionalPdf<MeasVar,StateVar>* _MeasurementPdf; 00063 00065 bool _systemWithoutSensorParams; 00066 00067 public: 00069 00073 MeasurementModel(ConditionalPdf<MeasVar,StateVar>* Measurementpdf=NULL); 00075 virtual ~MeasurementModel(); 00076 00078 int MeasurementSizeGet() const; 00079 00081 bool SystemWithoutSensorParams() const; 00082 00084 ConditionalPdf<MeasVar,StateVar> * MeasurementPdfGet(); 00085 00087 00089 void MeasurementPdfSet(ConditionalPdf<MeasVar,StateVar> * pdf); 00090 00092 00103 MeasVar Simulate (const StateVar& x, const StateVar& s, int sampling_method = DEFAULT, void * sampling_args = NULL); 00104 00106 00116 MeasVar Simulate (const StateVar& x, int sampling_method = DEFAULT, void * sampling_args = NULL); 00117 00119 00125 Probability ProbabilityGet(const MeasVar& z, const StateVar& x, const StateVar& s ); 00126 00128 00134 Probability ProbabilityGet(const MeasVar& z, const StateVar& x ); 00135 }; 00136 00137 #include "measurementmodel.cpp" 00138 00139 } // End namespace BFL 00140 00141 #endif // __MEASUREMENT_MODEL__