Bayesian Filtering Library
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00001 // $Id: histogramfilter.h 14935 2007-12-17 $ 00002 // Copyright (C) 2007 Tinne De Laet <tinne dot delaet at mech dot kuleuven dot be> 00003 // 00004 // This program is free software; you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published by 00006 // the Free Software Foundation; either version 2.1 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // This program is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program; if not, write to the Free Software 00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00017 // 00018 00019 #ifndef __HISTOGRAM_FILTER__ 00020 #define __HISTOGRAM_FILTER__ 00021 00022 #include "filter.h" 00023 #include "../pdf/discretepdf.h" 00024 #include "../model/measurementmodel.h" 00025 #include "../model/discretesystemmodel.h" 00026 00027 namespace BFL 00028 { 00029 00031 00049 template <typename MeasVar> class HistogramFilter : public Filter<int,MeasVar> 00050 { 00051 public: 00053 00056 HistogramFilter(DiscretePdf* prior); 00057 00059 virtual ~HistogramFilter(); 00060 00061 // implement virtual function 00062 virtual DiscretePdf* PostGet(); 00063 00064 protected: 00066 vector<Probability > _old_prob; 00068 vector<Probability > _new_prob; 00069 00074 void SysUpdate(SystemModel<int>* const sysmodel, 00075 const int& u); 00076 00078 00086 void MeasUpdate(MeasurementModel<MeasVar,int>* const measmodel, 00087 const MeasVar& z, 00088 const int& s); 00089 00090 bool UpdateInternal(SystemModel<int>* const sysmodel, 00091 const int& u, 00092 MeasurementModel<MeasVar,int>* const measmodel, 00093 const MeasVar& z, 00094 const int& s); 00095 }; // class 00096 00097 00098 #include "histogramfilter.cpp" 00099 00100 } // End namespace BFL 00101 00102 #endif // __HISTOGRAM_FILTER__