/Users/fpy/titan-1-5-MBARI/Mers/Estimation/Discrete/ApproximateBeliefState/BSUObjectiveFunction.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 _BSUOBJECTIVEFUNCTION_H_
#define _BSUOBJECTIVEFUNCTION_H_

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

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

namespace Mers {
        namespace Models {
                namespace Base {
                        class BaseModelVariableArray;
                        class BaseModelAssignment;
                }
        }
        namespace Estimation {
                namespace Discrete {
                        namespace ProbabilityRules {
                                class Rule;
                                class ObsProbRule;
                                namespace RuleTriggering {
                                        class RuleTrigger;
                                }
                        }
                        namespace ApproximateBeliefState {

                        
                        class BSUObjectiveFunction : public Mers::Estimation::Discrete::ApproximateBeliefState::BSEObjectiveFunction
                        {

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

                                BSUObjectiveFunction(Mers::Models::Base::BaseModelVariableArray const * dVs,
                                                const std::map<unsigned int, unsigned int> pMap,
                                                std::vector<double> allTransProbs,
                                                std::map<unsigned int,double> sProbs,
                                                std::vector<const Mers::Estimation::Discrete::ProbabilityRules::ObsProbRule *> & theObsProbabilityRules);
        
                                virtual ~BSUObjectiveFunction();

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

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

                        private:
                                //--------------------------------------------
                                //      PRIVATE FUNCTION METHODS
                                //--------------------------------------------


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

                                Mers::Estimation::Discrete::ProbabilityRules::RuleTriggering::RuleTrigger *     obsProbabilityRuleTrigger;

                                std::vector<Mers::Estimation::Discrete::ProbabilityRules::Rule *>               triggerRules;
                                };
                        }
                }
        }
}

#endif //ndef _BSUOBJECTIVEFUNCTION_H_

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