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StateModel.h
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StateModel.h
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/*
* Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
*
* This software may be modified and distributed under the terms of the
* BSD 3-Clause license. See the accompanying LICENSE file for details.
*/
#ifndef STATEMODEL_H
#define STATEMODEL_H
#include <BayesFilters/ExogenousModel.h>
#include <BayesFilters/Skippable.h>
#include <BayesFilters/StateProcess.h>
#include <memory>
namespace bfl {
class StateModel;
}
class bfl::StateModel : public StateProcess, public Skippable
{
public:
virtual ~StateModel() noexcept = default;
bool skip(const std::string& what_step, const bool status) override;
bool is_skipping() override;
bool add_exogenous_model(std::unique_ptr<ExogenousModel> exogenous_model);
bool have_exogenous_model() noexcept;
ExogenousModel& exogenous_model();
virtual Eigen::MatrixXd getJacobian();
virtual Eigen::VectorXd getTransitionProbability(const Eigen::Ref<const Eigen::MatrixXd>& prev_states, const Eigen::Ref<const Eigen::MatrixXd>& cur_states);
virtual Eigen::MatrixXd getNoiseCovarianceMatrix();
virtual Eigen::MatrixXd getNoiseSample(const std::size_t num);
virtual bool setSamplingTime(const double& time);
protected:
StateModel() noexcept = default;
StateModel(const StateModel& state_model) noexcept = delete;
StateModel& operator=(const StateModel& state_model) noexcept = delete;
StateModel(StateModel&& state_model) noexcept = default;
StateModel& operator=(StateModel&& state_model) noexcept = default;
private:
/**
* Skip status.
*/
bool skip_ = false;
/**
* Exogenous model.
*/
std::unique_ptr<ExogenousModel> exogenous_model_;
};
#endif /* STATEMODEL_H */