| 1 | // %pacpus:license{
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| 2 | // This file is part of the PACPUS framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %pacpus:license}
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| 5 | /// @file
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| 6 | /// @author Firstname Surname <firstname.surname@utc.fr>
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| 7 | /// @date Month, Year
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| 8 | /// @version $Id: bayes_filtering.hpp 76 2013-01-10 17:05:10Z kurdejma $
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| 9 | /// @copyright Copyright (c) UTC/CNRS Heudiasyc 2006 - 2013. All rights reserved.
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| 10 | /// @brief Brief description.
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| 11 | ///
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| 12 | /// Detailed description.
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| 13 |
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| 14 | #ifndef __BAYES_FILTERING__
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| 15 | #define __BAYES_FILTERING__
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| 16 |
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| 17 | #include "filter_exception.hpp"
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| 18 |
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| 19 | namespace filter {
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| 20 |
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| 21 | /*!
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| 22 | * \enum Filters
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| 23 | * \brief Enumeration of bayes filters
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| 24 | */
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| 25 | enum Filters { KF, EKF, UKF, GSF, PF };
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| 26 |
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| 27 |
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| 28 | /*!
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| 29 | * \class BayesDynamicEquation
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| 30 | * \brief This class describes a basic dynamic equation in bayes filtering scheme \n
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| 31 | * Class S describe the filter state \n
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| 32 | * Class I describe middle variable stored in the filter state \n
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| 33 | * ( for exmaple in particle scheme, the state vector (S) is a set of particle (I) ) \n
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| 34 | */
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| 35 | template <class S, class I> class BayesDynamicEquation{
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| 36 | public :
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| 37 |
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| 38 | /*!
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| 39 | * \brief virtual method where the a priori state vector must be computed
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| 40 | * \param in : the state vector at time k-1
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| 41 | * \param out : the state vector at time k
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| 42 | */
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| 43 | virtual void Predict(S *in,S *out)=0;
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| 44 |
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| 45 | /*!
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| 46 | * \brief virtual method where parameters of the dynamic equation must be evaluated
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| 47 | * \param s : the middle variable at time k-1
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| 48 | */
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| 49 | virtual void EvaluateParameters(I *s)=0;
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| 50 |
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| 51 |
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| 52 | /*!
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| 53 | * \brief Destructor
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| 54 | */
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| 55 | virtual ~BayesDynamicEquation(){}
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| 56 |
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| 57 | };
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| 58 |
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| 59 |
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| 60 | /*!
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| 61 | * \class BayesMeasureEquation
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| 62 | * \brief This class describes a basic measure equation in bayes filtering scheme \n
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| 63 | * Class S describe the filter state \n
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| 64 | * Class I describe middle variable stored in the filter state \n
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| 65 | * ( for exmaple in particle scheme, the state vector (S) is a set of particle (I) ) \n
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| 66 | */
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| 67 | template <class S, class I> class BayesMeasureEquation{
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| 68 | public :
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| 69 |
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| 70 | /*!
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| 71 | * \brief virtual method where parameters of the measure equation must be evaluated
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| 72 | * \param s : the meedle variable at time k
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| 73 | */
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| 74 | virtual void EvaluateParameters(I *s)=0;
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| 75 |
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| 76 | /*!
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| 77 | * \brief virtual method where the a posteriori state vector must be computed
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| 78 | * \param in : the a priori state vector at time k
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| 79 | * \param out : the a posteriori state vector at time k
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| 80 | */
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| 81 | virtual void Update(S *in,S *out)=0;
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| 82 |
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| 83 | /*!
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| 84 | * \brief Destructor
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| 85 | */
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| 86 | virtual ~BayesMeasureEquation(){}
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| 87 |
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| 88 | };
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| 89 |
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| 90 | } // namespace filter
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| 91 |
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| 92 | #endif // __BAYES_FILTERING__
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