00001 /* 00002 * MAPS-TFSS, Tactile Force Sensor Simulator 00003 * 00004 * Copyright (C) 2010 Zachary Pezzementi and Gregory Hager 00005 * 00006 * This program is free software: you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation, either version 3 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 */ 00019 00026 #ifndef BayesFilter_HPP 00027 #define BayesFilter_HPP 00028 00029 namespace Estimation 00030 { 00042 template<typename CMD, typename MEAS, typename STATE> 00043 class BayesFilter 00044 { 00045 public: 00057 void update(const CMD &c, const MEAS &m) 00058 { 00059 CommandUpdate(c); 00060 MeasurementUpdate(m); 00061 } 00062 00067 virtual void CommandUpdate(const CMD &c) = 0; 00068 00073 virtual void MeasurementUpdate(const MEAS &m) = 0; 00074 00079 virtual STATE getCurrentEstimate() const = 0; 00080 }; 00081 } 00082 00083 #endif
1.7.1