smoother.hpp

dysii是一款非常出色的滤波函数库

#ifndef INDII_ML_FILTER_SMOOTHER_HPP
#define INDII_ML_FILTER_SMOOTHER_HPP

#include "../aux/GaussianPdf.hpp"

namespace indii {
  namespace ml {
    namespace filter {

/**
 * Abstract smoother.
 *
 * @author Lawrence Murray <[e-mail]>
 * @version $Rev: 344 $
 * @date $Date: 2007-11-02 20:21:05 +0000 (Fri, 02 Nov 2007) $
 *
 * @param T The type of time.
 * @param P The type of probability distribution used to represent the
 * system state.
 * 
 * @see indii::ml::filter for general usage guidelines.
 */
template <class T = unsigned int, class P = indii::ml::aux::GaussianPdf>
class Smoother {
public:
  /**
   * Constructor.
   *
   * @param p_x0 \f$P\big(\mathbf{x}(0)\big)\f$; prior over the
   * initial state \f$\mathbf{x}(0)\f$.
   */
  Smoother(const P& p_x0);

  /**
   * Destructor.
   */
  virtual ~Smoother();

  /**
   * Get distribution over the state at the current time given all
   * measurements.
   *
   * @return \f$P\big(\mathbf{x}(t_n)\, |
   * \,\mathbf{y}(t_1),\ldots,\mathbf{y}(t_T)\big)\f$; distribution
   * over the current state given all measurements.
   */
  P& getSmoothedState();

  /**
   * Set the distribution over the state at the current time given
   * all measurements.
   *
   * @param p_xtn_ytT \f$P\big(\mathbf{x}(t_n)\, |
   * \,\mathbf{y}(t_1),\ldots,\mathbf{y}(t_T)\big)\f$; distribution
   * over the current state given all measurements.
   */
  void setSmoothedState(const P& p_xtn_ytT);

  /**
   * Apply the measurement function to the current smoothed state to
   * obtain an estimated measurement.
   *
   * @return The estimated measurement.
   */
  virtual P smoothedMeasure() = 0;
 
protected:
  /**
   * \f$P\big(\mathbf{x}(t_n)\, |
   * \,\mathbf{y}(t_1),\ldots,\mathbf{y}(t_T)\big)\f$; distribution
   * over the current state given all measurements. For internal use
   * only.
   */
  P p_xtn_ytT;

};

    }
  }
}

using namespace indii::ml::filter;

template <class T, class P>
Smoother<T,P>::Smoother(const P& p_x0) : p_xtn_ytT(p_x0) {
  //
}

template <class T, class P>
Smoother<T,P>::~Smoother() {
  //
}

template <class T, class P>
P& Smoother<T,P>::getSmoothedState() {
  return this->p_xtn_ytT;
}

template <class T, class P>
void Smoother<T,P>::setSmoothedState(const P& p_xtn_ytT) {
  this->p_xtn_ytT = p_xtn_ytT;
}

#endif