StateModel.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 STATEMODEL_H
#define STATEMODEL_H
 
#include <BayesFilters/ExogenousModel.h>
#include <BayesFilters/Skippable.h>
#include <BayesFilters/StateProcess.h>
 
#include <memory>
 
namespace bfl {
    class StateModel;
}
 
 
class bfl::StateModel : public StateProcess, public Skippable
{
public:
    virtual ~StateModel() noexcept = default;
 
    bool skip(const std::string& what_step, const bool status) override;
 
    bool is_skipping() override;
 
    bool add_exogenous_model(std::unique_ptr<ExogenousModel> exogenous_model);
 
    bool have_exogenous_model() noexcept;
 
    ExogenousModel& exogenous_model();
 
    virtual Eigen::MatrixXd getJacobian();
 
    virtual Eigen::VectorXd getTransitionProbability(const Eigen::Ref<const Eigen::MatrixXd>& prev_states, const Eigen::Ref<const Eigen::MatrixXd>& cur_states);
 
    virtual Eigen::MatrixXd getNoiseCovarianceMatrix();
 
    virtual Eigen::MatrixXd getNoiseSample(const std::size_t num);
 
    virtual bool setSamplingTime(const double& time);
 
protected:
    StateModel() noexcept = default;
 
    StateModel(const StateModel& state_model) noexcept = delete;
 
    StateModel& operator=(const StateModel& state_model) noexcept = delete;
 
    StateModel(StateModel&& state_model) noexcept = default;
 
    StateModel& operator=(StateModel&& state_model) noexcept = default;
 
 
private:
    bool skip_ = false;
 
    std::unique_ptr<ExogenousModel> exogenous_model_;
};
 
#endif /* STATEMODEL_H */