ParticleFilterFrameworkParallelized.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
 
#include "ParticleFilter/ParticleFilterFramework.h"
 
namespace visionx
{
    class CParticleFilterFrameworkParallelized : public CParticleFilterFramework
    {
    public:
        CParticleFilterFrameworkParallelized(int nParticles,
                                             int nDimension,
                                             int nNumParallelThreads = 1);
 
        double ParticleFilter(double* pResultMeanConfiguration,
                              double dSigmaFactor,
                              int nNumParticlesToUse = -1);
 
        int
        GetNumberOfParticles()
        {
            return m_nParticles;
        }
 
    private:
        virtual void UpdateModel(int nParticleIndex, int nModelIndex) = 0;
        virtual double CalculateProbability(int nParticleIndex, int nModelIndex) = 0;
 
    protected:
        int m_nNumParallelThreads;
    };
} // namespace visionx