#39 #40 git add for last commit

smc/merging/estimation/JointEstimation.h

@@ -0,0 +1,25 @@
+#ifndef JOINTESTIMATION_H
+#define JOINTESTIMATION_H
+
+#include "../../filtering/ParticleFilterMixing.h"
+
+namespace SMC {
+
+    /**
+     * interface for all available joint estimations
+     * within the IMMPF we have multiple particle filters
+     * the "true" estimation is a joint state of all
+     */
+    template <typename State, typename Control, typename Observation>
+    class JointEstimation {
+
+    public:
+
+        // get the current state estimation for the given particle set
+        virtual const State estimate(std::vector<ParticleFilterMixing<State, Control, Observation>>& modes) = 0;
+
+    };
+
+}
+
+#endif // JOINTESTIMATION_H

smc/merging/estimation/JointEstimationPosteriorOnly.h

@@ -0,0 +1,28 @@
+#ifndef JOINTESTIMATIONPOSTERIORONLY_H
+#define JOINTESTIMATIONPOSTERIORONLY_H
+
+#include "JointEstimation.h"
+
+#include "../../filtering/ParticleFilterMixing.h"
+
+namespace SMC {
+
+    /**
+     * Use only the posterior distribution (first mode entry) for the joint estimaton
+     */
+    template <typename State, typename Control, typename Observation>
+    class JointEstimationPosteriorOnly
+    : public JointEstimation<State, Control, Observation> {
+
+    public:
+
+        // get the current state estimation for the given particle set
+        const State estimate(std::vector<ParticleFilterMixing<State, Control, Observation>>& modes) override {
+            return modes[0].getEstimation();
+        }
+
+    };
+
+}
+
+#endif // JOINTESTIMATIONPOSTERIORONLY_H