upd_targets.hpp

#ifndef DDF_UPD_TARGETS_HPP
#define DDF_UPD_TARGETS_HPP


#include "ddf/upd_lin_pred.hpp"
#include "ddf/ctime.hpp"

namespace jafar
{
  namespace ddfsimu
  {
    using namespace jafar::ddf;
    class Upd_targets : public Upd_lin_pred_model<ParametersGeneric>
    {
      typedef ParametersGeneric PARAMS;
      unsigned short m_num_robots;
      unsigned short m_rob_id;
      unsigned short m_targets;
   
    public:
   
      Upd_targets(unsigned short sv_size, unsigned short num_robots, unsigned short rob_id, unsigned short q_size, VEC const& var);
      virtual ~Upd_targets() {}

      void UpdateG(PARAMS &params);
      void UpdateF(PARAMS &params);
      void SetModelParams(time const& from, time const& horizon);
      void SetModelParams(time const& h);
      void Updateq(PARAMS &params) { JFR_DEBUG("Update q not yet implemented"); }
      void Updateq(VEC const& pnoise) { q = pnoise; }
    };

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