GMPHDUnicycle2DIdCoopRCFilter.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------


#ifndef __GMPHD_UNICYCLE_2D_ID_COOP_RC_FILTER_H
#define __GMPHD_UNICYCLE_2D_ID_COOP_RC_FILTER_H

#include <Spaces.h>
#include <GaussianMixture.h>
#include "GMPHDUnicycle2DIdCoopFilter.h"
#include "PHDFilter.h"

#define NO_ID -1
#define STEADY_ID -2

using namespace MipBaselib;
using namespace arma;

namespace MipAlgorithms{

 /* @{ */

 class GMPHDUnicycle2DIdCoopRCFilter:public GMPHDUnicycle2DIdCoopFilter{

  public:
   GMPHDUnicycle2DIdCoopRCFilter();

   GMPHDUnicycle2DIdCoopRCFilter(GMPHDUnicycle2DIdCoopFilterPars inParams);
   
   string getObjectName() const {
    return "GMPHDUnicycle2DIdCoopRCFilter";
   }
   
  protected:

   void _predictExistingTarget();

   void _buildPHDUpdateComponents(PHDFilterIn &in);
   void _updateWithMeasurements(PHDFilterIn &in);
   void _updateWithNoMeasurements(PHDFilterIn &in);

   void _buildOtherPHDUpdateComponentsSingle(PHDFilterIn &in, int sensId);
   void _updateWithOtherNoDetection(PHDFilterIn &in, int measIndex);
   void _updateWithOtherMeasurements(PHDFilterIn &in, int measIndex);

   void _initialize(PHDFilterIn &in);
 };

 /* @} */

}


#endif