- Main Page
- Namespaces
- Classes
- Files
- Related Pages

# /Users/fpy/titan-1-5-MBARI/Mers/Estimation/Discrete/ApproximateBeliefState/CompiledBFBSE/CompiledBFBSE.h

    00001 //=============================================================================
    00002 // CompiledBFBSE.h: interface for the
    00003 // CompiledBFBSE class.
    00004 //
    00005 // Copyright (c) 2005           Model-based Embedded and Robotic Systems Group
    00006 // All Rights Reserved          Massachusetts Institute of Technology
    00007 //
    00008 // This software is provided as is. Model-based Embedded and Robotic Systems
    00009 // (MERS) group does not assume any responsibility.
    00010 //
    00011 // Author:                      Oliver B. Martin
    00012 // Organization:                Model-based Embedded and Robotic Systems Group
    00013 //                              Massachusetts Institute of Technology
    00014 //
    00015 // The CompiledBFBSE is an HHM estimation engine that generates
    00016 // estimates that are consistent with the CCA model, commands, and
    00017 // observations. Estimates are generated in best-first order (highest
    00018 // posterior probability first) by using BFIG to find the most likely
    00019 // diagnoses. This implimentation of CompiledBFBSE tracks the k most
    00020 // likely estimates in an approximate belief state using the full HMM belief
    00021 // state update equations in a single Non-MPI BFIG engine.
    00022 //=============================================================================
    00023
    00024
    00025 #if !defined(MERS_ESTIMATION_DISCRETE_APPROXIMATEBELIEFSTATE_COMPILEDBFBSE_COMPILEDBFBSE_HEADER_FILE)
    00026 #define MERS_ESTIMATION_DISCRETE_APPROXIMATEBELIEFSTATE_COMPILEDBFBSE_COMPILEDBFBSE_HEADER_FILE
    00027
    00028 #if _MSC_VER > 1000
    00029 #pragma once
    00030 #endif // _MSC_VER > 1000
    00031
    00032 #include <Mers/Estimation/Discrete/CompiledME/CompiledMEDebug/CBFTEDebug.h>
    00033 #include <Mers/Estimation/Discrete/ModeEstimationPerformance/Monitor/MEPerformanceMonitor.h>
    00034
    00035 namespace Mers {
    00036         namespace Estimation {
    00037                 namespace Discrete {
    00038
    00039                         class Trajectories;
    00040                         class Dissent;
    00041                         class CompiledTransition;
    00042
    00043                         namespace ModeEstimationPerformance {
    00044                                 class MEPerformanceMonitor;
    00045                         }
    00046
    00047                         namespace ApproximateBeliefState {
    00048
    00049                                 class BSEObjectiveFunction;
    00050
    00051                                 namespace CompiledBFBSE {
    00061                                         class CompiledBFBSE : public Mers::Estimation::Discrete::CompiledME::CompiledMEDebug::CBFTEDebug
    00062                                         {
    00063
    00064                                         public:
    00065                                                 //-----------------------------------------
    00066                                                 // Constructors
    00067                                                 //-----------------------------------------
    00068
    00076                                                 CompiledBFBSE(const Mers::Models::Base::BaseModel &bm,
    00077                                                         std::vector<const Mers::Estimation::Discrete::Dissent *> dissents,
    00078                                                         std::vector<const Mers::Estimation::Discrete::CompiledTransition *> compiledTransitions,
    00079                                                         Mers::Estimation::Discrete::Trajectories * initialTrajectories = NULL);
    00080
    00081
    00082                                                 //-----------------------------------------
    00083                                                 // Destructors
    00084                                                 //-----------------------------------------
    00085
    00089                                                 virtual ~CompiledBFBSE();
    00090
    00091
    00092                                                 //-----------------------------------------
    00093                                                 // Functions
    00094                                                 //-----------------------------------------
    00095
    00096
    00097                                         private:
    00098
    00103                                                 virtual bool                                    generateTrajectories(void);
    00104
    00105                                                 //-----------------------------------------
    00106                                                 // Data Members
    00107                                                 //-----------------------------------------
    00108
    00110                                                 Mers::Estimation::Discrete::ApproximateBeliefState::BSEObjectiveFunction *      objectiveFunction;
    00111                                         };
    00112                                 }
    00113                         }
    00114                 }
    00115         }
    00116 }
    00117
    00118 #endif // !defined(MERS_ESTIMATION_DISCRETE_APPROXIMATEBELIEFSTATE_COMPILEDBFBSE_COMPILEDBFBSE_HEADER_FILE)