WhiteNoiseAcceleration.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 WHITENOISEACCELERATION_H
#define WHITENOISEACCELERATION_H
 
#include <BayesFilters/LinearStateModel.h>
#include <BayesFilters/VectorDescription.h>
 
#include <functional>
#include <random>
 
namespace bfl {
    class WhiteNoiseAcceleration;
}
 
 
class bfl::WhiteNoiseAcceleration : public LinearStateModel
{
public:
    enum class Dim
    {
        OneD,
        TwoD,
        ThreeD
    };
 
    WhiteNoiseAcceleration(const Dim dim, const double sampling_interval, const double tilde_q) noexcept;
 
    WhiteNoiseAcceleration(const Dim dim, const double sampling_interval, const double tilde_q, const unsigned int seed) noexcept;
 
    WhiteNoiseAcceleration(const WhiteNoiseAcceleration& state_model) noexcept = delete;
 
    WhiteNoiseAcceleration& operator=(const WhiteNoiseAcceleration& state_model) noexcept = delete;
 
    WhiteNoiseAcceleration(WhiteNoiseAcceleration&& state_model) noexcept;
 
    WhiteNoiseAcceleration& operator=(WhiteNoiseAcceleration&& state_model) noexcept;
 
    virtual ~WhiteNoiseAcceleration() noexcept;
 
    bool setProperty(const std::string& property) override;
 
    VectorDescription getStateDescription() override;
 
    Eigen::MatrixXd getNoiseSample(const std::size_t num) override;
 
    Eigen::MatrixXd getNoiseCovarianceMatrix() override;
 
    Eigen::MatrixXd getStateTransitionMatrix() override;
 
    Eigen::VectorXd getTransitionProbability(const Eigen::Ref<const Eigen::MatrixXd>& prev_states, const Eigen::Ref<const Eigen::MatrixXd>& cur_states) override;
 
 
private:
    struct ImplData;
 
    std::unique_ptr<ImplData> pimpl_;
};
 
#endif /* WHITENOISEACCELERATION_H */