CProbabilityParticle.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/containers/deepcopy_ptr.h>  // copy_ptr<>
 
namespace mrpt
{
namespace 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() {}
        CProbabilityParticle(const T& data, const double logw)
                : CProbabilityParticleBase(logw), d(data)
        {
        }
        /** The data associated with this particle */
        T d{};
};
 
}  // namespace bayes
}  // namespace mrpt