CProbabilityParticle.h

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/* +---------------------------------------------------------------------------+
   |                     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/copy_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:
                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.
                double log_w; //!< The (logarithmic) weight value for this particle.

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

        } // end namespace
} // end namespace
#endif