?? smoother.hpp
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#ifndef INDII_ML_FILTER_SMOOTHER_HPP#define INDII_ML_FILTER_SMOOTHER_HPP#include "../aux/GaussianPdf.hpp"namespace indii { namespace ml { namespace filter {/** * Abstract smoother. * * @author Lawrence Murray <lawrence@indii.org> * @version $Rev: 344 $ * @date $Date: 2007-11-02 20:21:05 +0000 (Fri, 02 Nov 2007) $ * * @param T The type of time. * @param P The type of probability distribution used to represent the * system state. * * @see indii::ml::filter for general usage guidelines. */template <class T = unsigned int, class P = indii::ml::aux::GaussianPdf>class Smoother {public: /** * Constructor. * * @param p_x0 \f$P\big(\mathbf{x}(0)\big)\f$; prior over the * initial state \f$\mathbf{x}(0)\f$. */ Smoother(const P& p_x0); /** * Destructor. */ virtual ~Smoother(); /** * Get distribution over the state at the current time given all * measurements. * * @return \f$P\big(\mathbf{x}(t_n)\, | * \,\mathbf{y}(t_1),\ldots,\mathbf{y}(t_T)\big)\f$; distribution * over the current state given all measurements. */ P& getSmoothedState(); /** * Set the distribution over the state at the current time given * all measurements. * * @param p_xtn_ytT \f$P\big(\mathbf{x}(t_n)\, | * \,\mathbf{y}(t_1),\ldots,\mathbf{y}(t_T)\big)\f$; distribution * over the current state given all measurements. */ void setSmoothedState(const P& p_xtn_ytT); /** * Apply the measurement function to the current smoothed state to * obtain an estimated measurement. * * @return The estimated measurement. */ virtual P smoothedMeasure() = 0; protected: /** * \f$P\big(\mathbf{x}(t_n)\, | * \,\mathbf{y}(t_1),\ldots,\mathbf{y}(t_T)\big)\f$; distribution * over the current state given all measurements. For internal use * only. */ P p_xtn_ytT;}; } }}using namespace indii::ml::filter;template <class T, class P>Smoother<T,P>::Smoother(const P& p_x0) : p_xtn_ytT(p_x0) { //}template <class T, class P>Smoother<T,P>::~Smoother() { //}template <class T, class P>P& Smoother<T,P>::getSmoothedState() { return this->p_xtn_ytT;}template <class T, class P>void Smoother<T,P>::setSmoothedState(const P& p_xtn_ytT) { this->p_xtn_ytT = p_xtn_ytT;}#endif
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