#39 #40 git add for last commit

smc/Particle.h

@@ -0,0 +1,54 @@
+/*
+ * Particle.h
+ *
+ *  Created on: Sep 17, 2013
+ *      Author: Frank Ebner
+ */
+
+#ifndef PARTICLE_H_
+#define PARTICLE_H_
+
+/**
+ * a particle consists of a (user-defined) state
+ * assigned with a weight (importance).
+ *
+ * depending on the particle filter's configuration,
+ * the (user-defined) state must provide several methods
+ * like:
+ *	assigning values from another state
+ *	multiplication
+ *	etc..
+ *
+ */
+
+namespace SMC {
+
+	template <typename State> struct Particle {
+
+		/** the particles state */
+		State state;
+
+		/** the (current) probability for this state */
+        double weight;
+
+
+		/** empty ctor */
+		Particle() : state(), weight(0) {;}
+
+		/** ctor */
+		Particle(const State& state, double weight) : state(state), weight(weight) {;}
+
+
+		/** assignment operator */
+		Particle& operator = (const Particle& other) {
+			this->state = other.state;
+			this->weight = other.weight;
+			return *this;
+		}
+
+
+	};
+
+}
+
+#endif /* PARTICLE_H_ */