GaussianPrediction.cpp

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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.
 */
 
#include <BayesFilters/GaussianPrediction.h>
 
#include <exception>
#include <iostream>
 
using namespace bfl;
using namespace Eigen;
 
 
 
void GaussianPrediction::predict(const GaussianMixture& prev_state, GaussianMixture& pred_state)
{
    if (!skip_)
        predictStep(prev_state, pred_state);
    else
        pred_state = prev_state;
}
 
 
bool GaussianPrediction::skip(const std::string& what_step, const bool status)
{
    if (what_step == "prediction")
    {
        skip_ = status;
 
        getStateModel().skip("state", status);
 
        getStateModel().skip("exogenous", status);
    }
    else if (what_step == "state")
    {
        getStateModel().skip("state", status);
 
        skip_ = getStateModel().is_skipping() & getStateModel().exogenous_model().is_skipping();
    }
    else if (what_step == "exogenous")
    {
        getStateModel().skip("exogenous", status);
 
        skip_ = getStateModel().is_skipping() & getStateModel().exogenous_model().is_skipping();
    }
    else
        return false;
 
    return true;
}
 
 
bool GaussianPrediction::is_skipping()
{
    return skip_;
}