#ifndef MIXINGSAMPLER_H
#define MIXINGSAMPLER_H

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

namespace SMC {


    /**
     * interface for all available resampling methods
     * within the particle filter
     */
    template <typename State, typename Control, typename Observation>
    class MixingSampler {

    public:

        /**
         * perform mixing of modes and sample according to the modes probability
         * @param particles the vector of all particles to resample
         */
        virtual void mixAndSample(std::vector<ParticleFilterMixing<State, Control, Observation>>& modes, Eigen::MatrixXd transitionProbabilityMatrix) = 0;

    };

}

#endif // MIXINGSAMPLER_H