UKFPrediction.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 UKFPREDICTION_H
#define UKFPREDICTION_H
 
#include <BayesFilters/AdditiveStateModel.h>
#include <BayesFilters/ExogenousModel.h>
#include <BayesFilters/GaussianMixture.h>
#include <BayesFilters/GaussianPrediction.h>
#include <BayesFilters/sigma_point.h>
#include <BayesFilters/StateModel.h>
 
#include <memory>
 
namespace bfl {
    class UKFPrediction;
}
 
 
class bfl::UKFPrediction : public GaussianPrediction
{
public:
    enum class UKFPredictionType
    {
        Generic,
        Additive
    };
 
    UKFPrediction(std::unique_ptr<StateModel> state_model, const double alpha, const double beta, const double kappa) noexcept;
 
    UKFPrediction(std::unique_ptr<AdditiveStateModel> state_model, const double alpha, const double beta, const double kappa) noexcept;
 
    UKFPrediction(const UKFPrediction& prediction) noexcept = delete;
 
    UKFPrediction& operator=(const UKFPrediction& prediction) noexcept = delete;
 
    UKFPrediction(UKFPrediction&& prediction) noexcept;
 
    UKFPrediction& operator=(UKFPrediction&& prediction) noexcept;
 
    virtual ~UKFPrediction() noexcept = default;
 
    StateModel& getStateModel() noexcept override;
 
 
protected:
    void predictStep(const GaussianMixture& prev_state, GaussianMixture& pred_state) override;
 
 
private:
    std::unique_ptr<StateModel> state_model_;
 
    std::unique_ptr<AdditiveStateModel> add_state_model_;
 
    UKFPredictionType type_;
 
    sigma_point::UTWeight ut_weight_;
};
 
#endif /* UKFPREDICTION_H */