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

//
// 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.
//
// Organization:        Model-based Embedded and Robotic Systems Group
//                      Massachusetts Institute of Technology
//

#ifndef __BSEObjectiveFunction__
#define __BSEObjectiveFunction__

#include <vector>
#include <map>
#include <math.h>

#include <Mers/Estimation/Discrete/MEObjectiveFunction.h>

namespace Mers {
        namespace Models {
                namespace Base {
                        class BaseModelVariableArray;
                        class BaseModelAssignment;
                }
        }
        namespace Estimation {
                namespace Discrete {
                        class Trajectories;
                        class MEObjectiveFunction;

                        namespace ApproximateBeliefState {

                        
                        class BSEObjectiveFunction : public Mers::Estimation::Discrete::MEObjectiveFunction
                        {

                        public:
                                //--------------------------------------------
                                //      CONSTRUCTOR
                                //--------------------------------------------

                                BSEObjectiveFunction(Mers::Models::Base::BaseModelVariableArray const * dVs,
                                                const std::map<unsigned int, unsigned int> pMap,
                                                std::vector<double> allTransProbs,
                                                std::map<unsigned int,double> sProbs);
        
                                virtual ~BSEObjectiveFunction();

                                //--------------------------------------------
                                //      PUBLIC FUNCTION METHODS
                                //--------------------------------------------

                                
                        protected:

                                //--------------------------------------------
                                //      PROTECTED FUNCTION METHODS
                                //--------------------------------------------
                                
                                 virtual double calculateUtility(std::vector<Mers::Models::Base::BaseModelAssignment const *> & bmAssignments,
                                                                                                        int sourceStateIndex = -1) const;


                                 virtual double calculatePropagationUtility(
                                                 std::vector<Mers::Models::Base::BaseModelAssignment const *> & bmAssignments,
                                                 int sourceStateIndex = -1) const;

                                //--------------------------------------------
                                //      PRIVATE DATA MEMBERS
                                //--------------------------------------------

                                };
                        }
                }
        }
}

#endif //ndef __BSEObjectiveFunction__

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