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<div class="title">CProbabilityParticle.h</div> </div>
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<a href="_c_probability_particle_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CPROBABILITYPARTICLE_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPROBABILITYPARTICLE_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>bayes
<a name="l00037"></a>00037 {<span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment"> /** A template class for holding a the data and the weight of a particle.</span>
<a name="l00039"></a>00039 <span class="comment"> * Particles are composed of two parts:</span>
<a name="l00040"></a>00040 <span class="comment"> * - A state vector descritor, which in this case can be any user defined CSerializable class</span>
<a name="l00041"></a>00041 <span class="comment"> * - A (logarithmic) weight value.</span>
<a name="l00042"></a>00042 <span class="comment"> *</span>
<a name="l00043"></a>00043 <span class="comment"> * This structure is used within CParticleFilterData, see that class for more information.</span>
<a name="l00044"></a>00044 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00045"></a>00045 <span class="comment"> */</span>
<a name="l00046"></a>00046 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00047"></a>00047 <span class="keyword">struct </span>CProbabilityParticle
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** The data associated with this particle.</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a><a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65">00052</a> T *<a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a>;
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** The (logarithmic) weight value for this particle.</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a><a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a8d3279748c3ac5105e381d2fa17a8421">00056</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a8d3279748c3ac5105e381d2fa17a8421" title="The (logarithmic) weight value for this particle.">log_w</a>;
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** Default constructor:</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a><a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a11edec5da3bfe6e333c2d42408a92dc0">00060</a> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a11edec5da3bfe6e333c2d42408a92dc0" title="Default constructor:">CProbabilityParticle</a>() : <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a>(NULL), <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a8d3279748c3ac5105e381d2fa17a8421" title="The (logarithmic) weight value for this particle.">log_w</a>(0)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Copy constructor:</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a><a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#ac3ca9a6e8493731b21d09007b0772508">00066</a> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a11edec5da3bfe6e333c2d42408a92dc0" title="Default constructor:">CProbabilityParticle</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html" title="A template class for holding a the data and the weight of a particle.">CProbabilityParticle</a> &o) : <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a>(NULL), <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a8d3279748c3ac5105e381d2fa17a8421" title="The (logarithmic) weight value for this particle.">log_w</a>(o.<a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a8d3279748c3ac5105e381d2fa17a8421" title="The (logarithmic) weight value for this particle.">log_w</a>)
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keywordflow">if</span> (o.d)
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 <span class="comment">// Copy</span>
<a name="l00071"></a>00071 <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a> = <span class="keyword">new</span> T(*o.d);
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Copy operator</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a><a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#afa0533daab0ed3be0636912c4f03a385">00077</a> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html" title="A template class for holding a the data and the weight of a particle.">CProbabilityParticle<T></a> & <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#afa0533daab0ed3be0636912c4f03a385" title="Copy operator.">operator =</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html" title="A template class for holding a the data and the weight of a particle.">CProbabilityParticle</a> &o)
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (<span class="keyword">this</span> == &o) <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00080"></a>00080 <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a8d3279748c3ac5105e381d2fa17a8421" title="The (logarithmic) weight value for this particle.">log_w</a> = o.log_w;
<a name="l00081"></a>00081 <span class="keywordflow">if</span> (o.d)
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 <span class="comment">// Copy semantic:</span>
<a name="l00084"></a>00084 <span class="keywordflow">if</span> (<a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a>)
<a name="l00085"></a>00085 *<a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a> = *o.d; <span class="comment">// Copy using the object "operator =".</span>
<a name="l00086"></a>00086 <span class="keywordflow">else</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a> = <span class="keyword">new</span> T(*o.d); <span class="comment">// Create a new object from the copy constructor</span>
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 <span class="keywordflow">else</span>
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordflow">if</span> (<a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a>)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 <span class="keyword">delete</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a>;
<a name="l00093"></a>00093 <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html#a183191b9c6033e1ca209d440f2aedd65" title="The data associated with this particle.">d</a> = NULL;
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 };
<a name="l00099"></a>00099
<a name="l00100"></a>00100 } <span class="comment">// end namespace</span>
<a name="l00101"></a>00101 } <span class="comment">// end namespace</span>
<a name="l00102"></a>00102 <span class="preprocessor">#endif</span>
</pre></div></div>
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