expectation.hpp

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#include "jmath/jblas.hpp"

#include "rtslam/gaussian.hpp"

#ifndef EXPECTATION_HPP_
#define EXPECTATION_HPP_

namespace jafar {
  namespace rtslam {

    using namespace jmath;
    using namespace jblas;


    class Expectation: public Gaussian {

      public:


        Expectation(const size_t _size, const size_t _size_nonobs = 0);

        vec nonObs; 
        bool visible;
        double infoGain;

        friend std::ostream& operator <<(std::ostream & s, Expectation const & e_) {
          s << (Gaussian&)e_ << std::endl;
          s << "  .nonObs : " << e_.nonObs << " | .infoGain : " << e_.infoGain;
          return s;
        }
    };

  }
}

#endif /* EXPECTATION_HPP_ */