#ifndef MARKOVTRANSITIONPROBABILITY_H
#define MARKOVTRANSITIONPROBABILITY_H

#include "../filtering/ParticleFilterMixing.h"
#include <eigen3/Eigen/Dense>

namespace SMC {


    /**
     * interface for all available transition probability calculations
     * within the IMMPF
     */
    template <typename State, typename Control, typename Observation>
    class MarkovTransitionProbability {

    public:

        /**
         * perform the calculation of the transition matrix
         * @param vector of modes / particle filters
         */
         virtual Eigen::MatrixXd update(std::vector<ParticleFilterMixing<State, Control, Observation>>& modes, const Observation& obs) = 0;

    };

}


#endif // MARKOVTRANSITIONPROBABILITY_H