33 #ifndef __OPTIMALIMPORTANCE_FILTER__
34 #define __OPTIMALIMPORTANCE_FILTER__
36 #include "particlefilter.h"
67 template <
typename StateVar,
typename MeasVar>
class Optimalimportancefilter
68 :
public ParticleFilter<StateVar,MeasVar>
77 MeasurementModel<MeasVar,StateVar>*
const measmodel);
89 int resampleperiod = 0,
90 double resamplethreshold = 0,
91 int resamplescheme = DEFAULT_RS);
98 virtual void Update(SystemModel<StateVar>*
const sysmodel,
100 MeasurementModel<MeasVar,StateVar>*
const measmodel,
103 virtual void Update(SystemModel<StateVar>*
const sysmodel,
104 MeasurementModel<MeasVar,StateVar>*
const measmodel,
107 virtual void Update(SystemModel<StateVar>*
const sysmodel,
108 MeasurementModel<MeasVar,StateVar>*
const measmodel,
110 virtual void Update(SystemModel<StateVar>*
const sysmodel,
112 MeasurementModel<MeasVar,StateVar>*
const measmodel,
116 virtual void Update(SystemModel<StateVar>*
const sysmodel,
118 virtual void Update(SystemModel<StateVar>*
const sysmodel);
121 virtual void Update(MeasurementModel<MeasVar,StateVar>*
const measmodel,
124 virtual void Update(MeasurementModel<MeasVar,StateVar>*
const measmodel,
128 #include "optimalimportancefilter.cpp"
132 #endif // __OPTIMALIMPORTANCE_FILTER__