ParticleFilter.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 PARTICLEFILTER_H
#define PARTICLEFILTER_H
 
#include <BayesFilters/FilteringAlgorithm.h>
#include <BayesFilters/ParticleSetInitialization.h>
#include <BayesFilters/PFCorrection.h>
#include <BayesFilters/PFPrediction.h>
#include <BayesFilters/Resampling.h>
 
#include <memory>
 
namespace bfl{
    class ParticleFilter;
}
 
 
class bfl::ParticleFilter : public FilteringAlgorithm
{
public:
    virtual ~ParticleFilter() noexcept = default;
 
    bool skip(const std::string& what_step, const bool status) override;
 
 
protected:
    ParticleFilter(std::unique_ptr<ParticleSetInitialization> initialization, std::unique_ptr<PFPrediction> prediction, std::unique_ptr<PFCorrection> correction, std::unique_ptr<Resampling> resampling) noexcept;
 
    ParticleFilter(const ParticleFilter& filter) noexcept = delete;
 
    ParticleFilter& operator=(const ParticleFilter& filter) noexcept = delete;
 
    ParticleFilter(ParticleFilter&& filter) noexcept = delete;
 
    ParticleFilter& operator=(ParticleFilter&& filter) noexcept = delete;
 
    ParticleSetInitialization& initialization();
 
    PFPrediction& prediction();
 
    PFCorrection& correction();
 
    Resampling& resampling();
 
 
private:
 
    std::unique_ptr<ParticleSetInitialization> initialization_;
 
    std::unique_ptr<PFPrediction> prediction_;
 
    std::unique_ptr<PFCorrection> correction_;
 
    std::unique_ptr<Resampling> resampling_;
};
 
#endif /* PARTICLEFILTER_H */