00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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
Page generated by Doxygen 1.5.9 for MRPT 0.7.1 SVN: at Mon Aug 17 22:21:34 EDT 2009 |