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

//=============================================================================
// BFBSE.h: interface for the BFBSE class.
//
// Copyright (c) 2005           Model-based Embedded and Robotic Systems Group
// All Rights Reserved          Massachusetts Institute of Technology
//
// This software is provided as is. Model-based Embedded and Robotic Systems
// (MERS) group does not assume any responsibility.
//
// Author:                      Oliver B. Martin
// Organization:        Model-based Embedded and Robotic Systems Group
//                                      Massachusetts Institute of Technology
//
// The BFBSE is a HHM estimation engine that generates
// estimates that are consistent with the CCA model, commands, and
// observations. Estimates are generated in best-first order (highest
// posterior probability first) by using Opsat to find the most likely
// diagnoses. This implimentation of BFBSE tracks the k most
// likely estimates in an approximate belief state using the HMM belief
// state propagation equation in a single Non-MPI OPSAT engine. 
//=============================================================================


#if !defined(_BFBSE_H_)
#define _BFBSE_H_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include <Mers/Estimation/Discrete/ModeEstimationPerformance/Monitor/ModeEstimatorDebug.h>

namespace Mers {
        namespace Models {
                namespace CCA {
                        class CCAModel;
                }
        }
        namespace Estimation {
                namespace Discrete {

                        class Trajectories;

                        namespace ApproximateBeliefState {

                                class BSEObjectiveFunction;

                                namespace BFBSE {
                                        class BFBSE : public Mers::Estimation::Discrete::ModeEstimationPerformance::ModeEstimatorDebug
                                        {

                                        public:
                                                //-----------------------------------------
                                                // Constructors
                                                //-----------------------------------------

                                                BFBSE(const Mers::Models::CCA::CCAModel &cca, Mers::Estimation::Discrete::Trajectories * initialTrajectories = NULL);


                                                //-----------------------------------------
                                                // Destructors
                                                //-----------------------------------------
                                                
                                                virtual ~BFBSE();


                                                //-----------------------------------------
                                                // Functions
                                                //-----------------------------------------


                                        protected:

                                                virtual bool                                    generateTrajectories(void);

                                                virtual bool            calculateEstimateProbability(double & estProbability, 
                                                                                                                const Mers::Models::Base::BaseModelAssignmentArray * state, 
                                                                                                                unsigned int generatorNum, const std::vector<double> & allProbs) const;

                                                virtual bool            addEstimate(Mers::Estimation::Discrete::Estimate * theEst, 
                                                                                                Mers::Estimation::Discrete::EstimateHeap * nextTrajsEstHeap = NULL);

                                                //-----------------------------------------
                                                // Data Members
                                                //-----------------------------------------
                                        };
                                }
                        }
                }
        }
}

#endif // !defined(_BFBSE_H_)

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