ResamplingWithPrior.h

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/*
 * 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 RESAMPLINGWITHPRIOR_H
#define RESAMPLINGWITHPRIOR_H
 
#include <BayesFilters/ParticleSet.h>
#include <BayesFilters/ParticleSetInitialization.h>
#include <BayesFilters/Resampling.h>
 
#include <memory>
#include <vector>
 
#include <Eigen/Dense>
 
namespace bfl {
    class ResamplingWithPrior;
}
 
 
class bfl::ResamplingWithPrior : public Resampling
{
public:
    ResamplingWithPrior(std::unique_ptr<bfl::ParticleSetInitialization> init_model, const double prior_ratio, const unsigned int seed) noexcept;
 
    ResamplingWithPrior(std::unique_ptr<bfl::ParticleSetInitialization> init_model, const double prior_ratio) noexcept;
 
    ResamplingWithPrior(std::unique_ptr<bfl::ParticleSetInitialization> init_model) noexcept;
 
    ResamplingWithPrior(ResamplingWithPrior&& resampling) noexcept;
 
    virtual ~ResamplingWithPrior() noexcept = default;
 
    ResamplingWithPrior& operator=(ResamplingWithPrior&& resampling) noexcept;
 
    void resample(const ParticleSet& cor_particles, ParticleSet& res_particles, Eigen::Ref<Eigen::VectorXi> res_parents) override;
 
 
protected:
    std::unique_ptr<bfl::ParticleSetInitialization> init_model_;
 
    double prior_ratio_ = 0.5;
 
 
private:
    std::vector<unsigned int> sort_indices(const Eigen::Ref<const Eigen::VectorXd>& vector);
};
 
#endif /* RESAMPLINGWITHPRIOR_H */