KFPrediction.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 KFPREDICTION_H
#define KFPREDICTION_H
 
#include <BayesFilters/GaussianMixture.h>
#include <BayesFilters/GaussianPrediction.h>
#include <BayesFilters/LinearStateModel.h>
#include <BayesFilters/ExogenousModel.h>
 
#include <memory>
 
namespace bfl {
    class KFPrediction;
}
 
 
class bfl::KFPrediction : public bfl::GaussianPrediction
{
public:
    KFPrediction(std::unique_ptr<LinearStateModel> state_model) noexcept;
 
    KFPrediction(const KFPrediction& prediction) noexcept = delete;
 
    KFPrediction& operator=(const KFPrediction& prediction) noexcept = delete;
 
    KFPrediction(KFPrediction&& prediction) noexcept;
 
    KFPrediction& operator=(KFPrediction&& prediction) noexcept;
 
    virtual ~KFPrediction() noexcept = default;
 
    StateModel& getStateModel() noexcept override;
 
 
protected:
    void predictStep(const GaussianMixture& prev_state, GaussianMixture& pred_state) override;
 
 
private:
    std::unique_ptr<LinearStateModel> state_model_;
};
 
#endif /* KFPREDICTION_H */