#pragma once


//#include "BayesFilter/unsFlt.hpp"
//#include "BayesFilter/bayesFlt.hpp"
//using namespace std;
//using namespace Bayesian_filter;
//using namespace Bayesian_filter_matrix;
/********************************************************************
	created:	2008/01/03
	created:	3:1:2008   14:59
	filename: 	c:\boosttest\MyTargetTrack\MyTargetTrack\UncentedKalmanFilt\ObservModel.h
	file path:	c:\boosttest\MyTargetTrack\MyTargetTrack\UncentedKalmanFilt
	file base:	ObservModel
	file ext:	h
	author:		GaoYang
	
	purpose:	線性觀測(cè)模型，簡(jiǎn)單的用轉(zhuǎn)移矩陣乘狀態(tài)得到預(yù)測(cè)觀測(cè)量，存于自身的
	            成員變量中。輸入為狀態(tài)變量。
				Y=H*X，H默認(rèn)為單位陣（注意行數(shù)列數(shù)可能不同）
				若需要指定轉(zhuǎn)移矩陣則調(diào)用init函數(shù)
*********************************************************************/
//#include <boost/numeric/ublas/matrix.hpp>
////#include <boost/numeric/ublas/vector.hpp>
//#include <boost/numeric/ublas/storage.hpp>
//#include <boost/numeric/ublas/matrix_proxy.hpp>
#include "UKF_COMMAN_HEAD.h"
typedef boost::numeric::ublas::vector<double> OBSERVE_STYLE;

class CObservModel :virtual public BOOST_DEBUG_TOOL//: public Linear_uncorrelated_observe_model
{
public:
	CObservModel(TRANSTATE_MAT_TYPE& m_mTranslateMatrix);
	CObservModel(size_t StateSize,size_t ObservSize,TRANSTATE_MAT_TYPE& m_mTranslateMatrix);
public:
	virtual ~CObservModel(void);
	/**
	*初始化，并設(shè)置轉(zhuǎn)移矩陣，輸入為轉(zhuǎn)移矩陣
	*/
	void InitObserve(TRANSTATE_MAT_TYPE& TranslateMatrix);
	TRANSTATE_MAT_TYPE& m_mTranslateMatrix;///<狀態(tài)轉(zhuǎn)移矩陣，默認(rèn)為2X4的單位陣
	OBSERVE_STYLE& Update(STATE_STYLE& StateMean);
	const size_t m_nStateSize;
	OBSERVE_STYLE m_mPredictObserve;
	VARIANCE COVIARANCE_S;
};