CProbabilityParticle.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPROBABILITYPARTICLE_H
#define CPROBABILITYPARTICLE_H

#include <mrpt/utils/utils_defs.h>
#include <mrpt/utils/CSerializable.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:
                /** The data associated with this particle.
                 */
                T *d;

                /** The (logarithmic) weight value for this particle.
                 */
                double log_w;

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

                /** Copy constructor:
                 */
                CProbabilityParticle(const CProbabilityParticle &o) : d(NULL), log_w(o.log_w)
                {
                        if (o.d)
                        {
                                // Copy
                                d = new T(*o.d);
                        }
                }

                /** Copy operator
                  */
                CProbabilityParticle<T> & operator =(const CProbabilityParticle &o)
                {
                        if (this == &o) return *this;
                        log_w = o.log_w;
                        if (o.d)
                        {
                                // Copy semantic:
                                if (d)
                                        *d = *o.d;                      // Copy using the object "operator =".
                                else d = new T(*o.d);   // Create a new object from the copy constructor
                        }
                        else
                        {
                                if (d)
                                {
                                        delete d;
                                        d = NULL;
                                }
                        }
                        return *this;
                }
        };

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