GaussianLikelihood.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 GAUSSIANLIKELIHOOD_H
#define GAUSSIANLIKELIHOOD_H
 
#include <BayesFilters/LikelihoodModel.h>
 
namespace bfl {
    class GaussianLikelihood;
}
 
 
class bfl::GaussianLikelihood : public LikelihoodModel
{
public:
    GaussianLikelihood() noexcept;
 
    GaussianLikelihood(const double scale_factor) noexcept;
 
    virtual ~GaussianLikelihood() noexcept = default;
 
 
protected:
    std::pair<bool, Eigen::VectorXd> likelihood(const MeasurementModel& measurement_model, const Eigen::Ref<const Eigen::MatrixXd>& pred_states) override;
 
    double scale_factor_;
};
 
#endif /* GAUSSIANLIKELIHOOD_H */