ParticleSet.h

Go to the documentation of this file.

/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef PARTICLESET_H
#define PARTICLESET_H
 
#include <BayesFilters/GaussianMixture.h>
 
#include <vector>
 
namespace bfl {
    class ParticleSet;
}
 
 
class bfl::ParticleSet : public bfl::GaussianMixture
{
public:
    ParticleSet() noexcept;
 
    ParticleSet(const std::size_t components, const std::size_t dim) noexcept;
 
    ParticleSet(const std::size_t components, const std::size_t dim_linear, const std::size_t dim_circular, const bool use_quaternion = false) noexcept;
 
    virtual ~ParticleSet() noexcept = default;
 
    void resize(const std::size_t components, const std::size_t dim_linear, const std::size_t dim_circular = 0) override;
 
    ParticleSet& operator+=(const ParticleSet& rhs);
 
    Eigen::Ref<Eigen::MatrixXd> state();
 
    Eigen::Ref<Eigen::MatrixXd> state(const std::size_t i);
 
    double& state(const std::size_t i, const std::size_t j);
 
    const Eigen::Ref<const Eigen::MatrixXd> state() const;
 
    const Eigen::Ref<const Eigen::MatrixXd> state(const std::size_t i) const;
 
    const double& state(const std::size_t i, const std::size_t j) const;
 
 
protected:
    Eigen::MatrixXd state_;
};
 
 
bfl::ParticleSet operator+(bfl::ParticleSet lhs, const bfl::ParticleSet& rhs);
 
#endif /* PARTICLESET_H */