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src
filter
optimalimportancefilter.h
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// Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
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/***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU General Public *
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* License as published by the Free Software Foundation; *
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* version 2 of the License. *
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* *
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* As a special exception, you may use this file as part of a free *
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* software library without restriction. Specifically, if other files *
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* instantiate templates or use macros or inline functions from this *
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* file, or you compile this file and link it with other files to *
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* produce an executable, this file does not by itself cause the *
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* resulting executable to be covered by the GNU General Public *
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* License. This exception does not however invalidate any other *
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* reasons why the executable file might be covered by the GNU General *
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* Public License. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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// $Id$
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#ifndef __OPTIMALIMPORTANCE_FILTER__
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#define __OPTIMALIMPORTANCE_FILTER__
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#include "particlefilter.h"
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namespace
BFL
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{
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template
<
typename
StateVar,
typename
MeasVar>
class
Optimalimportancefilter
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:
public
ParticleFilter
<StateVar,MeasVar>
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{
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protected
:
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virtual
void
ConstructProposal
(
SystemModel<StateVar>
*
const
sysmodel,
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MeasurementModel<MeasVar,StateVar>
*
const
measmodel);
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public
:
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OptimalImportanceFilter
(
MCPdf<StateVar>
* prior,
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int
resampleperiod = 0,
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double
resamplethreshold = 0,
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int
resamplescheme = DEFAULT_RS);
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virtual
~OptimalImportanceFilter
();
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OptimalImportanceFilter
(
const
OptimalImportanceFilter<StateVar,MeasVar> & filt);
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virtual
void
Update(
SystemModel<StateVar>
*
const
sysmodel,
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const
StateVar& u,
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MeasurementModel<MeasVar,StateVar>
*
const
measmodel,
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const
MeasVar& z,
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const
StateVar& s);
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virtual
void
Update(
SystemModel<StateVar>
*
const
sysmodel,
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MeasurementModel<MeasVar,StateVar>
*
const
measmodel,
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const
MeasVar& z,
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const
StateVar& s);
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virtual
void
Update(
SystemModel<StateVar>
*
const
sysmodel,
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MeasurementModel<MeasVar,StateVar>
*
const
measmodel,
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const
MeasVar& z);
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virtual
void
Update(
SystemModel<StateVar>
*
const
sysmodel,
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const
StateVar& u,
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MeasurementModel<MeasVar,StateVar>
*
const
measmodel,
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const
MeasVar& z);
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virtual
void
Update(
SystemModel<StateVar>
*
const
sysmodel,
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const
StateVar& u);
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virtual
void
Update(
SystemModel<StateVar>
*
const
sysmodel);
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virtual
void
Update(
MeasurementModel<MeasVar,StateVar>
*
const
measmodel,
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const
MeasVar& z,
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const
StateVar& s);
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virtual
void
Update(
MeasurementModel<MeasVar,StateVar>
*
const
measmodel,
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const
MeasVar& z);
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};
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#include "optimalimportancefilter.cpp"
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}
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#endif // __OPTIMALIMPORTANCE_FILTER__
BFL::Optimalimportancefilter::ConstructProposal
virtual void ConstructProposal(SystemModel< StateVar > *const sysmodel, MeasurementModel< MeasVar, StateVar > *const measmodel)
Construct Optimal importance density from a sys and meas. model.
BFL::ParticleFilter
Virtual Class representing all particle filters.
Definition:
particlefilter.h:159
BFL
Definition:
bfl_constants.h:33
BFL::Optimalimportancefilter::~OptimalImportanceFilter
virtual ~OptimalImportanceFilter()
Destructor.
BFL::MCPdf
Monte Carlo Pdf: Sample based implementation of Pdf.
Definition:
mcpdf.h:49
BFL::MeasurementModel
Definition:
measurementmodel.h:53
BFL::Optimalimportancefilter
Particular particle filter: Proposal PDF = Optimal Importance function.
Definition:
optimalimportancefilter.h:67
BFL::Optimalimportancefilter::OptimalImportanceFilter
OptimalImportanceFilter(MCPdf< StateVar > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
BFL::SystemModel
Definition:
systemmodel.h:48
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