plBayesianFilter.h

/*=============================================================================
 * Product        : OpenPL 
 * File           : plBayesianFilter.h
 * Author         : Kamel Mekhnacha
 * Creation       : Fri Apr 16 15:28:11 2004
 *
 *=============================================================================
 *     (c) Copyright 2000, Centre National de la Recherche Scientifique,
 *                              all rights reserved
 *=============================================================================
 *
 *------------------------- Description ---------------------------------------
 *   
 *   
 *-----------------------------------------------------------------------------
 */



#ifndef _plBayesianFilter_h
#define _plBayesianFilter_h

#include <plCndKernel.h>
#include <plDataValues.h>
#include <plMutableKernel.h>
#include <plKernel.h>
#include <plVariablesConjunction.h>
#include <plObject.h>

class plValues;

class kplProbMap;
class kplComputableObject;

class plBayesianFilter :public plObject
{
public:
  plBayesianFilter(const plKernel &InitialState, 
           const plCndKernel &SystemModel,
           const plCndKernel &ObservationModel,
           const plVariablesConjunction &action_vars);
                   
  plBayesianFilter(const plKernel &InitialState, 
           const plVariablesConjunction &old_state_vars,
           const plCndKernel &SystemModel,
           const plVariablesConjunction &state_vars,
           const plCndKernel &ObservationModel,
           const plVariablesConjunction &obs_vars,
           const plVariablesConjunction &action_vars);
                                   
                     
  plBayesianFilter(const plKernel &InitialState, 
           const plCndKernel &SystemModel,
           const plCndKernel &ObservationModel);
                   
  plBayesianFilter(const plKernel &InitialState, 
           const plVariablesConjunction &old_state_vars,
           const plCndKernel &SystemModel,
           const plVariablesConjunction &state_vars,
           const plCndKernel &ObservationModel,
           const plVariablesConjunction &obs_vars);
                                   
                     
  plBayesianFilter(const plKernel &InitialState, 
           const plCndKernel &ObservationModel,
           const plVariablesConjunction &action_vars);
                     
  plBayesianFilter(const plKernel &InitialState,
           const plCndKernel &ObservationModel);
        
  ~plBayesianFilter();
    
  void setAction(const plValues &act);
    
  // Prediction
  void prediction();

  void n_prediction(unsigned long int nsamples);
    
  void time_prediction(double time_in_sec);
    
    
  // Observation
  void observation(const plValues &obs);
    
  void addMeasurement(const plValues &act, const plValues &obs)
  {
    setAction(act);
    prediction();
    observation(obs);
  }
    
  void n_addMeasurement(unsigned long int nsamples, const plValues &act, const plValues &obs)
  {
    setAction(act);
    n_prediction(nsamples);
    observation(obs);
  }
    
  void time_addMeasurement(double time_in_sec, const plValues &act, const plValues &obs)
  {
    setAction(act);
    time_prediction(time_in_sec);
    observation(obs);
  }
    
        
  void addMeasurement(const plValues &obs)
  {
    prediction();
    observation(obs);
  }
    
  void n_addMeasurement(unsigned long int nsamples, const plValues &obs)
  {
    n_prediction(nsamples);
    observation(obs);
  }
    
  void time_addMeasurement(double time_in_sec, const plValues &obs)
  {
    time_prediction(time_in_sec);
    observation(obs);
  }
    
  plKernel getEstimation()const
  {
    plKernel PSestim = _PoldS; 
    PSestim.rename(_state_variables);
    return PSestim;
  }

protected:
  void init(const plVariablesConjunction &state_vars,
        const plVariablesConjunction &old_state_vars,
        const plVariablesConjunction &obs_vars,
        const plVariablesConjunction &action_vars);
              
  void init_without_syst_model(const plVariablesConjunction &state_vars,
                   const plVariablesConjunction &obs_vars,
                   const plVariablesConjunction &action_vars);
protected:

  // P(S_)
  plMutableKernel _PoldS;
  
  // Observation model P(O | S A)
  plCndKernel _PO__SA;
  // P(O | S A) at kernel
  kplComputableObject *_PO__SAatKenel;
  
  // System model P(S | S_ A)
  plCndKernel _PS__oldSA;
  
  // prediction P(S | A)
  plCndKernel _PS__A;
  // instantiate prediction P(S | A = a)
  plKernel _PS__a;
  // P(S | A = a) compiled as map 
  plKernel _PS__a_map;
  
  kplProbMap *_PS__a_map_at_kernel;
  
  
  // a posteriori P(S | A = a  O = o)
  plKernel _PS_ao;
  kplProbMap *_PS__ao_map;
  
  
  // P(O = o | S A = a) compiled as a map
  //kplProbMap *_Po__Sa_map; 
  
  plVariablesConjunction _state_variables;
  plVariablesConjunction _old_state_variables;
  list <kplVariable*> _action_variables_at_kernel;
  list <kplVariable*> _observation_variables_at_kernel;
  //list <kplVariable*> _action_obs_vars;
  
  plDataValues _action;
  plDataValues _action_obs_values;
  
  bool _has_action;
  bool _system_model_is_id;
};

#endif

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