CProbabilityParticle.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CPROBABILITYPARTICLE_H
#define CPROBABILITYPARTICLE_H

#include <mrpt/utils/generic_copier_ptr.h>

namespace mrpt
{
namespace bayes
{
/** A template class for holding a the data and the weight of a particle.
 *    Particles are composed of two parts:
 *              - A state vector descritor, which in this case can be any user defined
 *CSerializable class
 *              - A (logarithmic) weight value.
 *
 *  This structure is used within CParticleFilterData, see that class for more
 *information.
 * \ingroup mrpt_base_grp
 */
template <class T>
struct CProbabilityParticle
{
   public:
        /** The data associated with this particle. The use of copy_ptr<> allows
         * relying on compiler-generated copy ctor, etc. */
        mrpt::utils::copy_ptr<T> d;
        /** The (logarithmic) weight value for this particle. */
        double log_w;

        /** Default constructor */
        CProbabilityParticle() : d(), log_w(.0) {}
};

}  // namespace bayes
}  // namespace mrpt
#endif