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CProbabilityParticle.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CPROBABILITYPARTICLE_H
00029 #define CPROBABILITYPARTICLE_H
00030 
00031 #include <mrpt/utils/utils_defs.h>
00032 #include <mrpt/utils/CSerializable.h>
00033 
00034 namespace mrpt
00035 {
00036 namespace bayes
00037 {
00038         /** A template class for holding a the data and the weight of a particle.
00039         *    Particles are composed of two parts:
00040          *              - A state vector descritor, which in this case can be any user defined CSerializable class
00041          *              - A (logarithmic) weight value.
00042          *
00043          *  This structure is used within CParticleFilterData, see that class for more information.
00044          */
00045         template <class T>
00046         struct CProbabilityParticle
00047         {
00048         public:
00049                 /** The data associated with this particle.
00050                  */
00051                 T *d;
00052 
00053                 /** The (logarithmic) weight value for this particle.
00054                  */
00055                 double log_w;
00056 
00057                 /** Default constructor:
00058                  */
00059                 CProbabilityParticle() : d(NULL), log_w(0)
00060                 {
00061                 }
00062 
00063                 /** Copy constructor:
00064                  */
00065                 CProbabilityParticle(const CProbabilityParticle &o) : d(NULL), log_w(o.log_w)
00066                 {
00067                         if (o.d)
00068                         {
00069                                 // Copy
00070                                 d = new T(*o.d);
00071                         }
00072                 }
00073 
00074                 /** Copy operator
00075                   */
00076                 CProbabilityParticle<T> & operator =(const CProbabilityParticle &o)
00077                 {
00078                         if (this == &o) return *this;
00079                         log_w = o.log_w;
00080                         if (o.d)
00081                         {
00082                                 // Copy semantic:
00083                                 if (d)
00084                                         *d = *o.d;                      // Copy using the object "operator =".
00085                                 else d = new T(*o.d);   // Create a new object from the copy constructor
00086                         }
00087                         else
00088                         {
00089                                 if (d)
00090                                 {
00091                                         delete d;
00092                                         d = NULL;
00093                                 }
00094                         }
00095                         return *this;
00096                 }
00097         };
00098 
00099         } // end namespace
00100 } // end namespace
00101 #endif



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