| 1 | #ifndef __BAYES_FILTERING__
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| 2 | #define __BAYES_FILTERING__
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| 3 |
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| 4 | #include "filter_exception.hpp"
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| 5 |
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| 6 | namespace filter {
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| 7 |
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| 8 | /*!
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| 9 | * \enum Filters
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| 10 | * \brief Enumeration of bayes filters
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| 11 | */
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| 12 | enum Filters { KF, EKF, UKF, GSF, PF };
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| 13 |
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| 14 |
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| 15 | /*!
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| 16 | * \class BayesDynamicEquation
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| 17 | * \brief This class describes a basic dynamic equation in bayes filtering scheme \n
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| 18 | * Class S describe the filter state \n
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| 19 | * Class I describe middle variable stored in the filter state \n
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| 20 | * ( for exmaple in particle scheme, the state vector (S) is a set of particle (I) ) \n
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| 21 | */
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| 22 | template <class S, class I> class BayesDynamicEquation{
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| 23 | public :
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| 24 |
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| 25 | /*!
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| 26 | * \brief virtual method where the a priori state vector must be computed
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| 27 | * \param in : the state vector at time k-1
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| 28 | * \param out : the state vector at time k
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| 29 | */
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| 30 | virtual void Predict(S *in,S *out)=0;
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| 31 |
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| 32 | /*!
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| 33 | * \brief virtual method where parameters of the dynamic equation must be evaluated
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| 34 | * \param s : the middle variable at time k-1
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| 35 | */
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| 36 | virtual void EvaluateParameters(I *s)=0;
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| 37 |
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| 38 |
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| 39 | /*!
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| 40 | * \brief Destructor
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| 41 | */
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| 42 | virtual ~BayesDynamicEquation(){}
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| 43 |
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| 44 | };
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| 45 |
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| 46 |
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| 47 | /*!
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| 48 | * \class BayesMeasureEquation
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| 49 | * \brief This class describes a basic measure equation in bayes filtering scheme \n
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| 50 | * Class S describe the filter state \n
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| 51 | * Class I describe middle variable stored in the filter state \n
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| 52 | * ( for exmaple in particle scheme, the state vector (S) is a set of particle (I) ) \n
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| 53 | */
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| 54 | template <class S, class I> class BayesMeasureEquation{
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| 55 | public :
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| 56 |
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| 57 | /*!
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| 58 | * \brief virtual method where parameters of the measure equation must be evaluated
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| 59 | * \param s : the meedle variable at time k
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| 60 | */
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| 61 | virtual void EvaluateParameters(I *s)=0;
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| 62 |
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| 63 | /*!
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| 64 | * \brief virtual method where the a posteriori state vector must be computed
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| 65 | * \param in : the a priori state vector at time k
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| 66 | * \param out : the a posteriori state vector at time k
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| 67 | */
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| 68 | virtual void Update(S *in,S *out)=0;
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| 69 |
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| 70 | /*!
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| 71 | * \brief Destructor
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| 72 | */
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| 73 | virtual ~BayesMeasureEquation(){}
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| 74 |
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| 75 | };
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| 76 |
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| 77 | };
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| 78 |
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| 79 | #endif
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