PFPrediction.h

Go to the documentation of this file.

/*
 * 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 PFPREDICTION_H
#define PFPREDICTION_H
 
#include <BayesFilters/ExogenousModel.h>
#include <BayesFilters/ParticleSet.h>
#include <BayesFilters/StateModel.h>
 
#include <Eigen/Dense>
 
#include <memory>
#include <string>
 
namespace bfl {
    class PFPrediction;
}
 
 
class bfl::PFPrediction
{
public:
    virtual ~PFPrediction() noexcept = default;
 
    void predict(const ParticleSet& prev_particles, ParticleSet& pred_particles);
 
    bool skip(const std::string& what_step, const bool status);
 
    bool is_skipping();
 
    virtual StateModel& getStateModel() noexcept = 0;
 
 
protected:
    PFPrediction() noexcept = default;
 
    PFPrediction(const PFPrediction& prediction) noexcept = delete;
 
    PFPrediction& operator=(const PFPrediction& prediction) noexcept = delete;
 
    PFPrediction(PFPrediction&& prediction) noexcept = default;
 
    PFPrediction& operator=(PFPrediction&& prediction) noexcept = default;
 
    virtual void predictStep(const ParticleSet& prev_particles, ParticleSet& pred_particles) = 0;
 
 
private:
    bool skip_ = false;
};
 
#endif /* PFPREDICTION_H */