#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