particlesmoother.h
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00001 // $Id: particlesmoother.h 6736 2006-12-21 11:24:42Z tdelaet $
00002 // Copyright (C) 2006 Tinne De Laet <first dot last at mech dot kuleuven dot be>
00003 //
00004  /***************************************************************************
00005  *   This library is free software; you can redistribute it and/or         *
00006  *   modify it under the terms of the GNU General Public                   *
00007  *   License as published by the Free Software Foundation;                 *
00008  *   version 2 of the License.                                             *
00009  *                                                                         *
00010  *   As a special exception, you may use this file as part of a free       *
00011  *   software library without restriction.  Specifically, if other files   *
00012  *   instantiate templates or use macros or inline functions from this     *
00013  *   file, or you compile this file and link it with other files to        *
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00015  *   resulting executable to be covered by the GNU General Public          *
00016  *   License.  This exception does not however invalidate any other        *
00017  *   reasons why the executable file might be covered by the GNU General   *
00018  *   Public License.                                                       *
00019  *                                                                         *
00020  *   This library is distributed in the hope that it will be useful,       *
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00031 
00032 
00033 // implementation based on "A smoothing filter for condensation", by Isard and
00034 // Blake
00035 // (http://www.springerlink.com/content/?k=a+smoothing+filter+for+condensation)
00036 // The bacward stage version
00037 // @bug still needs extra testing!
00038 
00039 #ifndef __PARTICLE_SMOOTHER__
00040 #define __PARTICLE_SMOOTHER__
00041 
00042 #include "backwardfilter.h"
00043 #include "../pdf/conditionalpdf.h"
00044 #include "../pdf/mcpdf.h"
00045 
00046 namespace BFL
00047 {
00048 
00050   template <typename StateVar> class ParticleSmoother
00051     : public BackwardFilter<StateVar>
00052     {
00053     protected:
00054       virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
00055                                   const StateVar& u, Pdf<StateVar>* const filtered_post);
00056 
00057       virtual void SysUpdate(SystemModel<StateVar>* const sysmodel, const StateVar& u , Pdf<StateVar>* const filtered_post);
00058 
00060       vector<WeightedSample<StateVar> > _old_samples;
00062       vector<WeightedSample<StateVar> > _new_samples;
00064       vector<WeightedSample<StateVar> > _filtered_samples;
00066       typename vector<WeightedSample<StateVar> >::iterator _os_it;
00068       typename vector<WeightedSample<StateVar> >::iterator _ns_it;
00070       typename vector<WeightedSample<StateVar> >::iterator _fs_it;
00071 
00072     public:
00074       ParticleSmoother(MCPdf<StateVar> * prior);
00075 
00077       virtual ~ParticleSmoother();
00078 
00079     };
00080 #include "particlesmoother.cpp"
00081 
00082 } // End namespace BFL
00083 
00084 #endif // __PARTICLE_FILTER__


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Thu Feb 11 2016 22:31:57