GPFPrediction.h

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef GPFPREDICTION_H
#define GPFPREDICTION_H
 
#include <BayesFilters/ExogenousModel.h>
#include <BayesFilters/GaussianPrediction.h>
#include <BayesFilters/ParticleSet.h>
#include <BayesFilters/PFPrediction.h>
#include <BayesFilters/StateModel.h>
 
#include <memory>
 
namespace bfl {
    class GPFPrediction;
}
 
 
class bfl::GPFPrediction : public PFPrediction
{
public:
    GPFPrediction(std::unique_ptr<GaussianPrediction> gauss_prediction) noexcept;
 
    GPFPrediction(const GPFPrediction& prediction) noexcept = delete;
 
    GPFPrediction& operator=(const GPFPrediction& prediction) noexcept = delete;
 
    GPFPrediction(GPFPrediction&& prediction) noexcept;
 
    GPFPrediction& operator=(GPFPrediction&& prediction) noexcept;
 
    virtual ~GPFPrediction() noexcept = default;
 
    StateModel& getStateModel() noexcept override;
 
 
protected:
    void predictStep(const ParticleSet& previous_particles, ParticleSet& predicted_particles) override;
 
 
private:
    std::unique_ptr<GaussianPrediction> gaussian_prediction_;
};
 
#endif /* GPFPREDICTION_H */