#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