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

//=============================================================================
// BFBSU.h: interface for the BFBSU 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 BFBSU 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 BFBSU tracks the k most
// likely estimates in an approximate belief state using the full HMM belief
// state update equations (including update) in a single Non-MPI OPSAT engine. 
//=============================================================================


#if !defined(_BFBSU_H_)
#define _BFBSU_H_

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

#include <Mers/Estimation/Discrete/ApproximateBeliefState/BFBSE/BFBSE.h>

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

                        class Trajectories;

                        namespace ProbabilityRules {
                                class ObsProbRule;
                        }

                        namespace ApproximateBeliefState {
                                namespace BFBSE {

                                        class BFBSE;
                                }
                                namespace BFBSU {
                                        class BFBSU : public Mers::Estimation::Discrete::ApproximateBeliefState::BFBSE::BFBSE
                                        {

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

                                                BFBSU(const Mers::Models::CCA::CCAModel &cca, 
                                                                std::vector<const Mers::Estimation::Discrete::ProbabilityRules::ObsProbRule *> & theObsProbRules,
                                                                Mers::Estimation::Discrete::Trajectories * initialTrajectories = NULL);

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


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


                                        private:

                                        //      virtual bool                                    generateTrajectories(void);

                                                //-----------------------------------------
                                                // Data Members
                                                //-----------------------------------------

                                        };
                                }
                        }
                }
        }
}

#endif // !defined(_BFBSU_H_)

---