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CProbabilityParticle.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CPROBABILITYPARTICLE_H
10 #define CPROBABILITYPARTICLE_H
11 
12 #include <mrpt/utils/copy_ptr.h>
13 
14 namespace mrpt
15 {
16 namespace bayes
17 {
18  /** A template class for holding a the data and the weight of a particle.
19  * Particles are composed of two parts:
20  * - A state vector descritor, which in this case can be any user defined CSerializable class
21  * - A (logarithmic) weight value.
22  *
23  * This structure is used within CParticleFilterData, see that class for more information.
24  * \ingroup mrpt_base_grp
25  */
26  template <class T>
28  {
29  public:
30  mrpt::utils::copy_ptr<T> d; //!< The data associated with this particle. The use of copy_ptr<> allows relying on compiler-generated copy ctor, etc.
31  double log_w; //!< The (logarithmic) weight value for this particle.
32 
33  /** Default constructor */
35  };
36 
37  } // end namespace
38 } // end namespace
39 #endif
Smart pointer for non-polymorphic classes.
Definition: copy_ptr.h:26
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A template class for holding a the data and the weight of a particle.
CProbabilityParticle()
Default constructor.
double log_w
The (logarithmic) weight value for this particle.
mrpt::utils::copy_ptr< T > d
The data associated with this particle. The use of copy_ptr<> allows relying on compiler-generated co...



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