sensor.hpp

#ifndef DDF_SENSOR_HPP
#define DDF_SENSOR_HPP

#include <BayesFilter/bayesFlt.hpp>
#include "sensorbase.hpp"

namespace jafar
{
  namespace ddfsimu
  {
    class SensorObs : public SensorBase
    {
      unsigned short     m_sv_size;  // size of the state vector
   
    protected:
      SpeedUpInfoStruct  m_sp;       // avoid temporary allocation (for speeding up algos)
   
    public:
   
      SensorObs(unsigned short x_size, unsigned short z_size): SensorBase(z_size), m_sp(x_size, z_size)
      {
        JFR_PRECOND((x_size > 0) && (z_size > 0), "bad sizes");
        m_sv_size = x_size;
      }
   
      virtual ~SensorObs() {}

      unsigned short GetStateSize() const { return m_sv_size; }
    };

    template<typename T_OBS>
    class Sensor : public SensorObs, public T_OBS
    {
    public:
      Sensor(unsigned short x_size, unsigned short z_size): SensorObs(x_size, z_size), T_OBS(x_size, z_size){}
      virtual ~Sensor() {}
    };

  } // namespace ddfsimu
} // namespace jafar
#endif