CProbabilityParticle.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/containers/deepcopy_ptr.h>  // copy_ptr<>

namespace mrpt::bayes
{
/** use for CProbabilityParticle
 * \ingroup mrpt_bayes_grp
 */
enum class particle_storage_mode
{
    VALUE,
    POINTER
};

/** A template class for holding a the data and the weight of a particle.
 * Particles comprise two parts: a "data payload field", and a logarithmic
 * importance sampling weight.
 *
 * \tparam T The type of the payload. Must be default constructable.
 * \tparam STORAGE If `POINTER`, a (wrapper to a) pointer is used to store
 * the payload; if `VALUE`, the payload is stored directly as a value.
 *
 * \sa CParticleFilterData
 * \ingroup mrpt_bayes_grp
 */
template <class T, particle_storage_mode STORAGE>
struct CProbabilityParticle;

struct CProbabilityParticleBase
{
    CProbabilityParticleBase(double logw = 0) : log_w(logw) {}
    /** The (logarithmic) weight value for this particle. */
    double log_w{.0};
};

template <class T>
struct CProbabilityParticle<T, particle_storage_mode::POINTER>
    : public CProbabilityParticleBase
{
    /** The data associated with this particle. The use of copy_ptr<> allows
     * relying on compiler-generated copy ctor, etc. */
    mrpt::containers::copy_ptr<T> d{};
};

template <class T>
struct CProbabilityParticle<T, particle_storage_mode::VALUE>
    : public CProbabilityParticleBase
{
    CProbabilityParticle() = default;
    CProbabilityParticle(const T& data, const double logw)
        : CProbabilityParticleBase(logw), d(data)
    {
    }
    /** The data associated with this particle */
    T d{};
};

}  // namespace mrpt::bayes