work/mixpp/bdm/estim/libPF.h

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#ifndef PF_H
#define PF_H

#include <itpp/itbase.h>
#include "../stat/libBM.h"
#include "../math/libDC.h"

using namespace itpp;

enum RESAMPLING_METHOD { MULTINOMIAL = 0, STRATIFIED = 1, SYSTEMATIC = 3 };

class PF : public BM { 
protected:
        int n; //number of particles
        vec w; //particle weights
        Uniform_RNG URNG; //used for resampling
        
public:
        ivec resample(RESAMPLING_METHOD method = SYSTEMATIC);
        PF (vec w);
        //TODO remove or implement bayes()!
        void bayes(const vec &dt, bool evell){};
};

class TrivialPF : public PF {
        Array<vec> ptcls;
        
        bool is_proposal;
        BM *prop;
        mpdf *par;
        mpdf *obs;
        
        public:
        TrivialPF(mpdf &par, mpdf &obs, BM &prop, int n0);
        TrivialPF(mpdf &par, mpdf &obs, int n0);
        void bayes(const vec &dt, bool evalll);
};

class MPF : public TrivialPF {
        Array<BM> Bms;
        public:
        MPF(BM &B, mpdf &prop, mpdf &obs, mpdf &par);
        void bayes(vec &dt);    
};

#endif // KF_H

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