Bayesian Filtering Library Generated from SVN r
bootstrapfilter.h
1// Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
2//
3/***************************************************************************
4 * This library is free software; you can redistribute it and/or *
5 * modify it under the terms of the GNU General Public *
6 * License as published by the Free Software Foundation; *
7 * version 2 of the License. *
8 * *
9 * As a special exception, you may use this file as part of a free *
10 * software library without restriction. Specifically, if other files *
11 * instantiate templates or use macros or inline functions from this *
12 * file, or you compile this file and link it with other files to *
13 * produce an executable, this file does not by itself cause the *
14 * resulting executable to be covered by the GNU General Public *
15 * License. This exception does not however invalidate any other *
16 * reasons why the executable file might be covered by the GNU General *
17 * Public License. *
18 * *
19 * This library is distributed in the hope that it will be useful, *
20 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
21 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
22 * Lesser General Public License for more details. *
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24 * You should have received a copy of the GNU General Public *
25 * License along with this library; if not, write to the Free Software *
26 * Foundation, Inc., 51 Franklin Street, Fifth Floor, *
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29 ***************************************************************************/
30// $Id$
31
32#ifndef __BOOTSTRAP_FILTER__
33#define __BOOTSTRAP_FILTER__
34
35#include "particlefilter.h"
36
37namespace BFL
38{
39
41
71template <typename StateVar, typename MeasVar> class BootstrapFilter
72 : public ParticleFilter<StateVar,MeasVar>
74 protected:
76 virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
77 const StateVar& u,
79 const MeasVar& z,
80 const StateVar& s);
82 public:
91 BootstrapFilter(MCPdf<StateVar> * prior,
92 int resampleperiod = 0,
93 double resamplethreshold = 0,
94 int resamplescheme = DEFAULT_RS);
97
105 BootstrapFilter(MCPdf<StateVar> * prior,
106 MCPdf<StateVar> * post,
107 int resampleperiod = 0,
108 double resamplethreshold = 0,
109 int resamplescheme = DEFAULT_RS);
110
113
114 // Default Copy constructor will do
116};
118#include "bootstrapfilter.cpp"
119
120}
122#endif // __BOOTSTRAP_FILTER__
Particular particle filter : Proposal PDF = SystemPDF.
virtual bool UpdateInternal(SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
Actual implementation of updateinternal.
BootstrapFilter(MCPdf< StateVar > *prior, MCPdf< StateVar > *post, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
virtual ~BootstrapFilter()
Destructor.
BootstrapFilter(MCPdf< StateVar > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
Virtual Class representing all particle filters.