LinearModel.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 LINEARMODEL_H
#define LINEARMODEL_H
 
#include <BayesFilters/LTIMeasurementModel.h>
 
#include <initializer_list>
#include <fstream>
#include <functional>
#include <random>
#include <string>
 
namespace bfl {
    class LinearModel;
}
 
 
class bfl::LinearModel : public LTIMeasurementModel
{
public:
    using LinearMatrixComponent = std::pair<std::size_t, std::vector<std::size_t>>;
 
    LinearModel(const LinearMatrixComponent& linear_matrix_component, const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix, const unsigned int seed);
 
    LinearModel(const LinearMatrixComponent& linear_matrix_component, const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix);
 
    virtual ~LinearModel() noexcept = default;
 
    std::pair<bool, Eigen::MatrixXd> getNoiseCovarianceMatrix() const override;
 
    Eigen::MatrixXd getMeasurementMatrix() const override;
 
 
protected:
    std::pair<bool, Eigen::MatrixXd> getNoiseSample(const int num) const;
 
    double T_;
 
    Eigen::MatrixXd sqrt_R_;
 
    std::function<double()> gauss_rnd_sample_;
 
    std::vector<std::string> log_file_names(const std::string& folder_path, const std::string& file_name_prefix) override
    {
        return {folder_path + "/" + file_name_prefix + "_measurements"};
    }
 
 
private:
    std::mt19937_64 generator_;
 
    std::normal_distribution<double> distribution_;
 
    bool log_enabled_ = false;
 
    mutable std::ofstream log_file_measurements_;
};
 
#endif /* LINEARMODEL_H */