LinearStateModel.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 LINEARSTATEMODEL_H
#define LINEARSTATEMODEL_H
 
#include <BayesFilters/AdditiveStateModel.h>
 
namespace bfl {
    class LinearStateModel;
}
 
 
class bfl::LinearStateModel : public bfl::AdditiveStateModel
{
public:
    virtual ~LinearStateModel() noexcept = default;
 
    virtual void propagate(const Eigen::Ref<const Eigen::MatrixXd>& cur_states, Eigen::Ref<Eigen::MatrixXd> prop_states) override;
 
    virtual Eigen::MatrixXd getStateTransitionMatrix() = 0;
 
 
protected:
    LinearStateModel() noexcept = default;
 
    LinearStateModel(const LinearStateModel& state_model) noexcept = delete;
 
    LinearStateModel& operator=(const LinearStateModel& state_model) noexcept = delete;
 
    LinearStateModel(LinearStateModel&& state_model) noexcept = default;
 
    LinearStateModel& operator=(LinearStateModel&& state_model) noexcept = default;
};
 
#endif /* LINEARSTATEMODEL_H */