~ugocupcic/sr-ros-interface/manipulation

/**

 * @file particle.cpp

 * @author Ugo Cupcic <ugo@shadowrobot.com>, Contact <contact@shadowrobot.com>

 * @date 9 Nov 2010

 *

 * @brief 

 *

 *

 */

 

#include "particle.hpp"

#include <ros/ros.h>

 

namespace dataglove

{

Particle::Particle()

{

    init_weight(1);

}

 

Particle::Particle( int population_size )

{

    init_weight(population_size);

}

 

Particle::Particle( boost::ptr_vector<Particle>::iterator particle, bool reset_weight, float average_weight )

{

    if( reset_weight )

        weight = average_weight;

    else

        weight = particle->weight;

 

    squared_weight = weight * weight;

}

 

Particle::~Particle()

{

 

}

 

void Particle::init_weight( int population_size )

{

    weight = 1.0f / ((float)population_size);

    squared_weight = weight * weight;

}

 

float Particle::get_weight() const

{

    return weight;

}

 

float Particle::set_weight( float new_weight )

{

    weight = new_weight;

    squared_weight = weight * weight;

 

    return squared_weight;

}

 

}//end namespace