#include "libPF.h"

using namespace itpp;

using std::endl;

ivec PF::resample( RESAMPLING_METHOD method ) {
	ivec ind( n );
	return ind;
}

TrivialPF::TrivialPF(mpdf &par0, mpdf &obs0, mpdf &prop0, int n0){
	is_proposal = true;
	prop = &prop0;
	par = &par0;
	obs = &obs0;
}
TrivialPF::TrivialPF(mpdf &par0, mpdf &obs0,  int n0){
	is_proposal = false;
	par = &par0;
	obs = &obs0;
}

void TrivialPF::bayes( const vec &dt , bool evalll) {
	int i;
	vec oldp;
	double ll, gl, sum=0.0;
	Sort<double> S;
	ivec ind, iw;
	/*
	//generate new samples
	for ( i=0;i<n;i++ ) {
		prop->evalcond( ptcls( i ), &prop_cond );
		ptcls( i ) = prop_cond.sample();
		gl = prop_cond.eval( ptcls( i ) );

		obs.evalcond( ptcls( i ), &obs_cond );
		ll = obs_cond.eval( dt );
		w( i ) *= ll/gl;
	}
	//renormalize
	for ( i=0;i<n;i++ ){sum+=w( i );};
	w( i ) /=sum; //?
	//
	ind = resample();
	iw = S.sort_index( 0,n-1,w ); // the first one in iw is the strongest

	for ( i=0;i<n;i++ ) {
		ptcls( i ) = ptcls( i ); //potentionally dangerous!
	}
	*/
}