POMDPModelInterface pmif = model_manager.getPOMDPModel();  try {  long window_length = _model_manager.getMaxSensorLatency( _asset_id.getType() ); window_length = window_length * 5; _belief_state_window = new BeliefStateWindow( asset_id, window_length, pmif, se_publisher, bel_plugin ); } catch( BelievabilityException be ) { logDebug( "Failed to create belief state window -- " + be.getMessage() ); }
POMDPModelInterface pmif = model_manager.getPOMDPModel();  try {  long window_length = _model_manager.getMaxSensorLatency( _asset_id.getType() ); window_length = window_length * 5; _belief_state_window = new BeliefStateWindow( asset_id, window_length, initial_time, pmif, se_publisher, bel_plugin ); } catch( BelievabilityException be ) { logDebug( "Failed to create belief state window -- " + be.getMessage() ); }
    public AssetModel( AssetID asset_id,		       BelievabilityPlugin bel_plugin,		       ModelManagerInterface model_manager,		       StateEstimationPublisher se_publisher ) {	// Save construction parameters and information	_asset_id = asset_id;	_model_manager = model_manager;	_se_publisher = se_publisher;	POMDPModelInterface pmif = model_manager.getPOMDPModel();		try {	    // Set up with a longer window length 	    long window_length = 		_model_manager.getMaxSensorLatency( _asset_id.getType() );	    window_length = window_length * 5;	    _belief_state_window = 		new BeliefStateWindow( asset_id, 				       window_length,				       pmif,				       se_publisher,				       bel_plugin );	}	catch( BelievabilityException be ) {	    logDebug( "Failed to create belief state window -- " 		      + be.getMessage() );	}    } // constructor AssetModel