Template Function beluga::cluster_based_estimate

• Defined in File cluster_based_estimation.hpp

Function Documentation

template<class States, class Weights>
auto beluga::cluster_based_estimate(States &&states, Weights &&weights, ParticleClusterizerParam parameters = {})

Computes a cluster-based estimate from a particle set.

Particles are grouped into clusters around local maxima. The state mean and covariance of the cluster with the highest total weight is returned. If no clusters are found, the overall mean and covariance of the particles are calculated and returned.

Template Parameters:

• States – Range type of the states.

• Weights – Range type of the weights.

Parameters:

• states – Range containing the states of the particles.

• weights – Range containing the weights of the particles.

• parameters – Parameters for the particle clusterizer (optional).

Returns:

A pair consisting of the state mean and covariance of the cluster with the highest total weight.