Resampling.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 RESAMPLING_H
#define RESAMPLING_H
 
#include <random>
 
#include <BayesFilters/ParticleSet.h>
 
#include <Eigen/Dense>
 
namespace bfl {
    class Resampling;
}
 
 
class bfl::Resampling
{
public:
    Resampling(unsigned int seed) noexcept;
 
    Resampling() noexcept;
 
    Resampling(const Resampling& resampling) noexcept;
 
    Resampling(Resampling&& resampling) noexcept;
 
    virtual ~Resampling() noexcept = default;
 
    Resampling& operator=(const Resampling& resampling);
 
    Resampling& operator=(Resampling&& resampling) noexcept;
 
    Resampling& operator=(const Resampling&& resampling) noexcept;
 
    virtual void resample(const bfl::ParticleSet& cor_particles, bfl::ParticleSet& res_particles, Eigen::Ref<Eigen::VectorXi> res_parents);
 
    virtual double neff(const Eigen::Ref<const Eigen::VectorXd>& cor_weights);
 
 
private:
    std::mt19937_64 generator_;
};
 
#endif /* RESAMPLING_H */