unscentedkalmansmootherbackwardtransitionadaptor.hpp

dysii是一款非常出色的滤波函数库

#ifndef INDII_ML_FILTER_UNSCENTEDKALMANSMOOTHERBACKWARDTRANSITIONADAPTOR_HPP
#define INDII_ML_FILTER_UNSCENTEDKALMANSMOOTHERBACKWARDTRANSITIONADAPTOR_HPP

#include "UnscentedTransformationModel.hpp"

namespace indii {
  namespace ml {
    namespace filter {

  template <class T> class UnscentedTransformation;
  template <class T> class UnscentedKalmanSmoother;

/**
 * Adaptor mapping UnscentedTransformationModel interface to method calls in
 * UnscentedKalmanSmootherModel.
 * 
 * @author Lawrence Murray <[e-mail]>
 * @version $Rev: 329 $
 * @date $Date: 2007-10-16 17:10:39 +0100 (Tue, 16 Oct 2007) $
 *
 * @param T The type of time.
 *
 * For internal use only.
 */
template <class T = unsigned int>
class UnscentedKalmanSmootherBackwardTransitionAdaptor :
    public UnscentedTransformationModel<T> {

  friend class UnscentedTransformation<T>;
  friend class UnscentedKalmanSmoother<T>;

private:
  /**
   * Constructor.
   * 
   * @param smoother UnscentedKalmanSmoother for which to map calls.
   */
  UnscentedKalmanSmootherBackwardTransitionAdaptor(
      const UnscentedKalmanSmoother<T>* smoother);

  /**
   * Maps call to UnscentedKalmanSmootherModel::backwardTransition.
   */
  virtual indii::ml::aux::vector propagate(const indii::ml::aux::vector& x,
      T delta = 0);

  /**
   * Smoother for which to act as adaptor.
   */
  const UnscentedKalmanSmoother<T>* smoother;

};

    }
  }
}

#include "UnscentedKalmanSmoother.hpp"
#include "UnscentedKalmanSmootherModel.hpp"

using namespace indii::ml::filter;

namespace ublas = boost::numeric::ublas;

template <class T>
UnscentedKalmanSmootherBackwardTransitionAdaptor<T>::UnscentedKalmanSmootherBackwardTransitionAdaptor(const UnscentedKalmanSmoother<T>* smoother) :
    smoother(smoother) {
  // nothing further to do
}

template <class T>
aux::vector UnscentedKalmanSmootherBackwardTransitionAdaptor<T>::propagate(
    const aux::vector& X, T delta) {
  const unsigned int N = smoother->N;
  const unsigned int W = smoother->W;

  aux::vector x(project(X, ublas::range(0,N)));
  aux::vector w(project(X, ublas::range(N,N+W)));

  return smoother->model->backwardTransition(x, w, delta);
}

#endif