#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