// $Id: EKF_proposaldensity.cpp 29495 2008-08-13 12:57:49Z tdelaet $
// Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//
// This program 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#include "EKF_proposaldensity.h"

namespace BFL
{
#define EKFPropDens EKFProposalDensity

  EKFPropDens::EKFPropDens(AnalyticSystemModelGaussianUncertainty * SysModel,
			   AnalyticMeasurementModelGaussianUncertainty * MeasModel)
    : FilterProposalDensity(SysModel,MeasModel)
  {
    _filter = new ExtendedKalmanFilter(_TmpPrior);
  }

  EKFPropDens::~EKFPropDens()
  {
    delete _filter;
  }

} // End namespace BFL
