/*
 * 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_ */