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00037 #include "problib/pdfs/Uniform.h"
00038 #include "problib/conversions.h"
00039
00040 using namespace pbl;
00041
00042 Uniform::Uniform(int dim) : PDF(dim, PDF::UNIFORM), uniform_probability_(0), size_is_set_(false) {
00043 }
00044
00045 Uniform::Uniform(int dim, double density) : PDF(dim, PDF::UNIFORM), uniform_probability_(density), size_is_set_(false) {
00046 }
00047
00048 Uniform::Uniform(pbl::Vector mean, pbl::Vector size) : PDF(mean.n_elem, PDF::UNIFORM), mean_(mean), size_(size), size_is_set_(true) {
00049 calculateUniformDensity();
00050 }
00051
00052 Uniform::Uniform(const Uniform& orig) : PDF(orig), mean_(orig.mean_), size_(orig.size_),
00053 uniform_probability_(orig.uniform_probability_), size_is_set_(orig.size_is_set_) {
00054 }
00055
00056 Uniform::~Uniform() {
00057 }
00058
00059 Uniform& Uniform::operator=(const Uniform& other) {
00060 if (this != &other) {
00061 mean_ = other.mean_;
00062 size_ = other.size_;
00063 size_is_set_ = other.size_is_set_;
00064 uniform_probability_ = other.uniform_probability_;
00065 dimensions_ = other.dimensions_;
00066 }
00067 return *this;
00068 }
00069
00070 Uniform* Uniform::clone() const {
00071 return new Uniform(*this);
00072 }
00073
00074 double Uniform::getLikelihood(const PDF& pdf) const {
00075
00076
00077 assert(dimensions() == pdf.dimensions());
00078
00079 if (size_is_set_) {
00080
00081 arma::vec my_min = mean_ - size_ / 2;
00082 arma::vec my_max = mean_ + size_ / 2;
00083
00084 if (pdf.type() == PDF::UNIFORM) {
00085 const Uniform* U = PDFtoUniform(pdf);
00086
00087 arma::vec other_min = U->mean_ - U->size_ / 2;
00088 arma::vec other_max = U->mean_ + U->size_ / 2;
00089
00090 double overlapping_volume = 1;
00091 for(int i = 0; i < dimensions(); ++i) {
00092 double diff = std::min(my_max(i), other_max(i)) - std::max(my_min(i), other_min(i));
00093 if (diff <= 0) {
00094 return 0;
00095 }
00096 overlapping_volume *= diff;
00097 }
00098
00099 return overlapping_volume * uniform_probability_ * U->uniform_probability_;
00100 } else if (pdf.type() == PDF::HYBRID) {
00101 return pdf.getLikelihood(*this);
00102 } else {
00103 arma::vec other_mean;
00104 if (!pdf.getExpectedValue(other_mean)) {
00105 std::cout << pdf.toString() << std::endl;
00106 assert_msg(false, "Uniform likelihood calculation: cannot determine expected value of pdf.");
00107 return 0;
00108 }
00109
00110 for(int i = 0; i < dimensions(); ++i) {
00111 if (other_mean(i) < my_min(i) || other_mean(i) > my_max(i)) {
00112 return 0;
00113 }
00114 }
00115
00116 return uniform_probability_;
00117 }
00118 }
00119
00120 return uniform_probability_;
00121 }
00122
00123 void Uniform::setDensity(const double& density) {
00124 uniform_probability_ = density;
00125 size_is_set_ = false;
00126 }
00127
00128 double Uniform::getDensity(const arma::vec& vec) const {
00129 return uniform_probability_;
00130 }
00131
00132 double Uniform::getMaxDensity() const {
00133 return uniform_probability_;
00134 }
00135
00136 void Uniform::setMean(const pbl::Vector mean) {
00137 mean_ = mean;
00138 }
00139
00140 void Uniform::setSize(const pbl::Vector size) {
00141 size_ = size;
00142 calculateUniformDensity();
00143 }
00144
00145 void Uniform::calculateUniformDensity() {
00146 double volume = 1;
00147 for(unsigned int i = 0; i < size_.n_elem; ++i) {
00148 volume *= size_(i);
00149 }
00150 uniform_probability_ = 1.0 / volume;
00151 size_is_set_ = true;
00152 }
00153
00154 std::string Uniform::toString(const std::string& indent) const {
00155 std::stringstream s;
00156 s << "U(" << uniform_probability_;
00157
00158 if (size_is_set_) {
00159 s << ", mean = " << mean_ << ", size = " << size_;
00160 }
00161
00162 s << ")";
00163
00164 return s.str();
00165 }