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

    00001 //=============================================================================
    00002 // StaticOCSPEstimateEnumerator.h: interface for the
    00003 // StaticOCSPEstimateEnumerator class.
    00004 //
    00005 // Copyright (c) 2004           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 StaticOCSPEstimateEnumerator 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 Opsat to find the most likely
    00019 // diagnoses. This implimentation of StaticOCSPEstimateEnumerator tracks the k most
    00020 // likely approximate belief states over time using a single OCSP instance
    00021 // without dynamically changed the node costs
    00022 //
    00023 //=============================================================================
    00024
    00025
    00026 #if !defined(_STATICOCSPESTIMATEENUMERATOR_H_)
    00027 #define _STATICOCSPESTIMATEENUMERATOR_H_
    00028
    00029 #if _MSC_VER > 1000
    00030 #pragma once
    00031 #endif // _MSC_VER > 1000
    00032
    00033 #include <Mers/Estimation/Discrete/ModeEstimationPerformance/Monitor/ModeEstimatorDebug.h>
    00034
    00035 namespace Mers {
    00036         namespace Models {
    00037                 namespace CCA {
    00038                         class CCAModel;
    00039                 }
    00040         }
    00041         namespace Estimation {
    00042                 namespace Discrete {
    00043
    00044                         class Trajectories;
    00045
    00046                         namespace ApproximateBeliefState {
    00047                                 namespace StaticOCSPEstimateEnumeration {
    00057                                         class StaticOCSPEstimateEnumerator : public Mers::Estimation::Discrete::ModeEstimationPerformance::ModeEstimatorDebug
    00058                                         {
    00059
    00060                                         public:
    00061                                                 //-----------------------------------------
    00062                                                 // Constructors
    00063                                                 //-----------------------------------------
    00064
    00072                                                 StaticOCSPEstimateEnumerator(const Mers::Models::CCA::CCAModel &cca, Mers::Estimation::Discrete::Trajectories * initialTrajectories = NULL);
    00073
    00074
    00075                                                 //-----------------------------------------
    00076                                                 // Destructors
    00077                                                 //-----------------------------------------
    00078
    00082                                                 virtual ~StaticOCSPEstimateEnumerator();
    00083
    00084
    00085                                                 //-----------------------------------------
    00086                                                 // Functions
    00087                                                 //-----------------------------------------
    00088
    00089
    00090                                         private:
    00091
    00096                                                 virtual bool                                    generateTrajectories(void);
    00097
    00098                                                 //-----------------------------------------
    00099                                                 // Data Members
    00100                                                 //-----------------------------------------
    00101                                         };
    00102                                 }
    00103                         }
    00104                 }
    00105         }
    00106 }
    00107
    00108 #endif // !defined(_STATICOCSPESTIMATEENUMERATOR_H_)