#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: 544 $ * @date $Date: 2008-09-01 15:04:39 +0100 (Mon, 01 Sep 2008) $ * * @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 tT \f$t_T\f$; starting time.   * @param p_xT \f$p(\mathbf{x}_T)\f$; prior over the state at time   * \f$t_T\f$.   */  Smoother(const T tT, const P& p_xT);  /**   * Destructor.   */  virtual ~Smoother();  /**   * Get the current time.   *   * @return \f$t_n\f$; the current time.   */  T getTime() const;  /**   * Set the current time.   *   * @param tn \f$t_n\f$; the current time.   */  void setTime(const T tn);  /**   * 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$t_n\f$; the current time.   */  T tn;  /**   * \f$p(\mathbf{x}_n\,|\,\mathbf{y}_{1:T})\f$; smoothed density at the   * current time.   */  P p_xtn_ytT;};    }  }}template <class T, class P>indii::ml::filter::Smoother<T,P>::Smoother(const T tT, const P& p_xT) :    tn(tT), p_xtn_ytT(p_xT) {  //}template <class T, class P>indii::ml::filter::Smoother<T,P>::~Smoother() {  //}template <class T, class P>inline T indii::ml::filter::Smoother<T,P>::getTime() const {  return this->tn;}template <class T, class P>void indii::ml::filter::Smoother<T,P>::setTime(const T tn) {  this->tn = tn;}template <class T, class P>inline P& indii::ml::filter::Smoother<T,P>::getSmoothedState() {  return this->p_xtn_ytT;}template <class T, class P>void indii::ml::filter::Smoother<T,P>::setSmoothedState(    const P& p_xtn_ytT) {  this->p_xtn_ytT = p_xtn_ytT;}#endif