pf.h

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#ifndef PARTICLEFILTER_H
#define PARTICLEFILTER_H
#include <stdlib.h>
#include<vector>
#include<utility>
#include<gmapping/utils/gvalues.h>
 
 
 
typedef std::pair<uint,uint> UIntPair;
 
template <class OutputIterator, class Iterator>
double toNormalForm(OutputIterator& out, const Iterator & begin, const Iterator & end){
        //determine the maximum
        double lmax=-MAXDOUBLE;
        for (Iterator it=begin; it!=end; it++){
                lmax=lmax>((double)(*it))? lmax: (double)(*it);
        }
        //convert to raw form
        for (Iterator it=begin; it!=end; it++){
                *out=exp((double)(*it)-lmax);
                out++;
        }
        return lmax;
}
 
template <class OutputIterator, class Iterator, class Numeric>
void toLogForm(OutputIterator& out, const Iterator & begin, const Iterator & end, Numeric lmax){
        //determine the maximum
        for (Iterator it=begin; it!=end; it++){
                *out=log((Numeric)(*it))-lmax;
                out++;
        }
        return lmax;
}
 
template <class WeightVector>
void resample(std::vector<int>& indexes, const WeightVector& weights, unsigned int nparticles=0){
        double cweight=0;
        
        //compute the cumulative weights
        unsigned int n=0;
        for (typename WeightVector::const_iterator it=weights.begin(); it!=weights.end(); ++it){
                cweight+=(double)*it;
                n++;
        }
 
        if (nparticles>0)
                n=nparticles;
        
        //compute the interval
        double interval=cweight/n;
 
        //compute the initial target weight
        double target=interval*::drand48();
        //compute the resampled indexes
 
        cweight=0;
        indexes.resize(n);
        
        n=0;
        unsigned int i=0;
        for (typename WeightVector::const_iterator it=weights.begin(); it!=weights.end(); ++it, ++i){
                cweight+=(double)* it;
                while(cweight>target){
                        indexes[n++]=i;
                        target+=interval;
                }
        }
}
 
template <typename WeightVector>
void normalizeWeights(WeightVector& weights, unsigned int size, double minWeight){
        double wmin=MAXDOUBLE;
        double wmax=-MAXDOUBLE;
        for (uint i=0; i<size; i++){
                wmin=wmin<weights[i]?wmin:weights[i];
                wmax=wmax>weights[i]?wmax:weights[i];
        }
        double min_normalized_value=log(minWeight);
        double max_normalized_value=log(1.);
        double dn=max_normalized_value-min_normalized_value;
        double dw=wmax-wmin;
        if (dw==0) dw=1;
        double scale=dn/dw;
        double offset=-wmax*scale;
        for (uint i=0; i<size; i++){
                double w=weights[i];
                w=scale*w+offset;
                weights[i]=exp(w);
        }
}
 
template <typename Vector>
void repeatIndexes(Vector& dest, const std::vector<int>& indexes, const Vector& particles){
/*<<<<<<< .mine
        assert(indexes.size()==particles.size());
        if (dest.size()!=particles.size())
                dest.resize(particles.size());
=======*/
        //assert(indexes.size()==particles.size()); //DIEGO non ne vedo il senso, anzi è sbagliata
        //dest.resize(particles.size());            //      è sbagliato anche questo
        dest.resize(indexes.size());
// >>>>>>> .r2534
        unsigned int i=0;
        for (std::vector<int>::const_iterator it=indexes.begin(); it!=indexes.end(); ++it){
                dest[i]=particles[*it];
                i++;
        }
}
 
template <typename Vector>
void repeatIndexes(Vector& dest, const std::vector<int>& indexes2, const Vector& particles, const std::vector<int>& indexes){
  //    assert(indexes.size()==indexes2.size());
        dest=particles;
        unsigned int i=0;
        for (std::vector<int>::const_iterator it=indexes2.begin(); it!=indexes2.end(); ++it){
                dest[indexes[i]]=particles[*it];
                i++;
        }
}
 
 
template <class Iterator>
double neff(const Iterator& begin, const Iterator& end){
        double sum=0;
        for (Iterator it=begin; it!=end; ++it){
                sum+=*it;
        }
        double cum=0;
        for (Iterator it=begin; it!=end; ++it){
                double w=*it/sum;
                cum+=w*w;
        }
        return 1./cum;
}
 
 
 
template <class OutputIterator, class Iterator>
void rle(OutputIterator& out, const Iterator & begin, const Iterator & end){
        unsigned int current=0;
        unsigned int count=0;
        for (Iterator it=begin; it!=end; it++){
                if (it==begin){
                        current=*it;
                        count=1;
                        continue;
                }
                if (((uint)*it) ==current)
                        count++;
                if (((uint)*it)!=current){
                        *out=std::make_pair(current,count);
                        out++;
                        current=*it;
                        count=1;
                }
        }
        if (count>0)
                *out=std::make_pair(current,count);
                out++;
}
 
#endif