template class mrpt::bayes::CParticleFilterData

This template class declares the array of particles and its internal data, managing some memory-related issues and providing an easy implementation of virtual methods required for implementing a CParticleFilterCapable.

See also the methods in the base class CParticleFilterDataImpl<>.

Since CProbabilityParticle implements all the required operators, the member “m_particles” can be safely copied with “=” or copy constructor operators and new objects will be created internally instead of copying the internal pointers, which would lead to memory corruption.

See also:

CParticleFilter, CParticleFilterCapable, CParticleFilterDataImpl

#include <mrpt/bayes/CParticleFilterData.h>

template <
    class T,
    particle_storage_mode STORAGE = particle_storage_mode::POINTER
    >
class CParticleFilterData
{
};

// direct descendants

class CLocalMetricHypothesis;
class CMultiMetricMapPDF;
class CPointPDFParticles;
class CPose3DPDFParticles;
class CPosePDFParticles;