Public Member Functions | Protected Member Functions | List of all members
BFL::MixtureBootstrapFilter< StateVar, MeasVar > Class Template Reference

Particular mixture particle filter : Proposal PDF = SystemPDF. More...

#include <mixtureBootstrapFilter.h>

Inheritance diagram for BFL::MixtureBootstrapFilter< StateVar, MeasVar >:
Inheritance graph
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Public Member Functions

 MixtureBootstrapFilter (Mixture< StateVar > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS, int maintainMixturePeriod=1)
 Constructor. More...
 
 MixtureBootstrapFilter (Mixture< StateVar > *prior, Mixture< StateVar > *post, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS, int maintainMixturePeriod=1)
 Constructor. More...
 
virtual ~MixtureBootstrapFilter ()
 Destructor. More...
 
- Public Member Functions inherited from BFL::MixtureParticleFilter< StateVar, MeasVar >
 MixtureParticleFilter (Mixture< StateVar > *prior, ConditionalPdf< StateVar, StateVar > *proposal, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS, int maintainMixturePeriod=1)
 Constructor. More...
 
 MixtureParticleFilter (Mixture< StateVar > *prior, Mixture< StateVar > *post, ConditionalPdf< StateVar, StateVar > *proposal, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS, int maintainMixturePeriod=1)
 Constructor. More...
 
 MixtureParticleFilter (const MixtureParticleFilter< StateVar, MeasVar > &filt)
 Copy Constructor. More...
 
virtual Mixture< StateVar > * PostGet ()
 Get Posterior density. More...
 
ConditionalPdf< StateVar, StateVar > * ProposalGet ()
 Get a pointer to the proposal density. More...
 
virtual void ProposalSet (ConditionalPdf< StateVar, StateVar > *const cpdf)
 Set the proposal density. More...
 
virtual void Reset (Mixture< StateVar > *prior)
 Reset Filter. More...
 
virtual ~MixtureParticleFilter ()
 Destructor. More...
 
- Public Member Functions inherited from BFL::Filter< StateVar, MeasVar >
 Filter (Pdf< StateVar > *prior)
 Constructor. More...
 
 Filter (const Filter< StateVar, MeasVar > &filt)
 copy constructor More...
 
virtual void Reset (Pdf< StateVar > *prior)
 Reset Filter. More...
 
int TimeStepGet () const
 Get current time. More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Full Update (system with inputs/sensing params) More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Full Update (system without inputs, with sensing params) More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z)
 Full Update (system without inputs/sensing params) More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z)
 Full Update (system with inputs, without sensing params) More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, const StateVar &u)
 System Update (system with inputs) More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel)
 System Update (system without inputs) More...
 
virtual bool Update (MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Measurement Update (system with "sensing params") More...
 
virtual bool Update (MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z)
 Measurement Update (system without "sensing params") More...
 
virtual ~Filter ()
 destructor More...
 

Protected Member Functions

virtual bool UpdateInternal (SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Actual implementation of updateinternal. More...
 
- Protected Member Functions inherited from BFL::MixtureParticleFilter< StateVar, MeasVar >
virtual bool DynamicResampleStep ()
 Resample if necessary. More...
 
virtual bool DynamicResampleStepOne (int component)
 Resampling for one component. More...
 
virtual bool MaintainMixture ()
 Actual mixture maintainance happens here;. More...
 
virtual bool MaintainMixtureStep ()
 Maintain Mixture if wanted. More...
 
virtual bool ProposalStepInternal (SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Proposal step. More...
 
virtual bool ProposalStepInternalOne (int component, SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Proposal step for one component. More...
 
virtual bool Resample ()
 Actual Resampling happens here;. More...
 
virtual bool ResampleOne (int component)
 Actual Resampling for one component;. More...
 
virtual bool StaticResampleStep ()
 Resample if wanted. More...
 
virtual bool UpdateWeightsInternal (SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Update Weights. More...
 
virtual bool UpdateWeightsInternalOne (int component, SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
 Update Weights for one component. More...
 

Additional Inherited Members

- Protected Attributes inherited from BFL::MixtureParticleFilter< StateVar, MeasVar >
bool _created_post
 created own post More...
 
bool _dynamicResampling
 Dynamic resampling or fixed period resampling? More...
 
int _maintainMixturePeriod
 Number of timestep between mixture maintainance of the Posterior. More...
 
vector< vector< Sample< StateVar > > > _new_samples_unweightedVec
 While resampling. More...
 
vector< vector< WeightedSample< StateVar > > > _new_samplesVec
 While updating store list of new samples. More...
 
vector< Probability_newMixtureWeights
 Vector containing the new mixture weights during update step. More...
 
vector< WeightedSample< StateVar > >::iterator _ns_it
 Iterator for new list of samples. More...
 
vector< vector< WeightedSample< StateVar > > > _old_samplesVec
 While updating store list of old samples. More...
 
vector< WeightedSample< StateVar > >::iterator _os_it
 Iterator for old list of samples. More...
 
ConditionalPdf< StateVar, StateVar > * _proposal
 Pointer to the Proposal Density. More...
 
bool _proposal_depends_on_meas
 Proposal depends on last measurement? More...
 
int _resamplePeriod
 Number of timestep between resampling from the Posterior Pdf. More...
 
int _resampleScheme
 Which resample algorithm (see top of particle.h for #defines) More...
 
double _resampleThreshold
 Threshold used when dynamic resampling. More...
 
WeightedSample< StateVar_sample
 While updating use sample<StateVar> More...
 
vector< Probability_sumWeights
 Vector containing the sum of weights during update step. More...
 
- Protected Attributes inherited from BFL::Filter< StateVar, MeasVar >
Pdf< StateVar > * _post
 Pointer to the Posterior Pdf. More...
 
Pdf< StateVar > * _prior
 prior Pdf More...
 
int _timestep
 Represents the current timestep of the filter. More...
 

Detailed Description

template<typename StateVar, typename MeasVar>
class BFL::MixtureBootstrapFilter< StateVar, MeasVar >

Particular mixture particle filter : Proposal PDF = SystemPDF.

This is one (simple) particular implementation of a particle filter, in which the proposal density is equal to the pdf describing the system model (aka as SystemPdf), and involving a resampling step

The reason why I chose the name bootstrap filter is the fact that this is the name used in the book by Doucet et al.

@Book{            doucet_book,
editor  = {Doucet, Arnaud and de Freytas, Nando and Gordon, Neil},
title           = {{S}equential {M}onte {C}arlo {M}ethods in {P}ractice},
publisher       = {Springer--Verlag},
year            = {2001},
series  = {Statistics for engineering and information science},
month           = {january},
annote  = {see http://www-sigproc.eng.cam.ac.uk/~ad2/book.html}
}

(and I presume this will become a/the standard book about particle filtering). Typical for the bootstrap filter is the fact that the proposal density is chosen to be the SystemPdf of the SystemModel. So there is no proposal density in the constructor here

Todo:
The implementation is very slow for the moment. It would probably be much faster to add a vector<WeightedSample> to the private members of this class.
See also
Pdf

Definition at line 71 of file mixtureBootstrapFilter.h.

Constructor & Destructor Documentation

◆ MixtureBootstrapFilter() [1/2]

template<typename StateVar, typename MeasVar>
BFL::MixtureBootstrapFilter< StateVar, MeasVar >::MixtureBootstrapFilter ( Mixture< StateVar > *  prior,
int  resampleperiod = 0,
double  resamplethreshold = 0,
int  resamplescheme = DEFAULT_RS,
int  maintainMixturePeriod = 1 
)

Constructor.

Precondition
you created the necessary models and the prior
Parameters
priorpointer to the Monte Carlo Pdf prior density
resampleperiodfixed resampling period (if desired)
resamplethresholdthreshold used when dynamic resampling
resampleschemeresampling scheme, see header file for different defines and their meaning
maintainMixturePeriodfixed mixture maintainance period

◆ MixtureBootstrapFilter() [2/2]

template<typename StateVar, typename MeasVar>
BFL::MixtureBootstrapFilter< StateVar, MeasVar >::MixtureBootstrapFilter ( Mixture< StateVar > *  prior,
Mixture< StateVar > *  post,
int  resampleperiod = 0,
double  resamplethreshold = 0,
int  resamplescheme = DEFAULT_RS,
int  maintainMixturePeriod = 1 
)

Constructor.

Precondition
you created the necessary models and the prior
Parameters
priorpointer to the Monte Carlo Pdf prior density
postpointer to the Monte Carlo Pdf post density
resampleperiodfixed resampling period (if desired)
resamplethresholdthreshold used when dynamic resampling
resampleschemeresampling scheme, see header file for different defines and their meaning
maintainMixturePeriodfixed mixture maintainance period

◆ ~MixtureBootstrapFilter()

template<typename SVar , typename MVar >
BFL::MixtureBootstrapFilter< SVar, MVar >::~MixtureBootstrapFilter ( )
virtual

Destructor.

Definition at line 63 of file mixtureBootstrapFilter.cpp.

Member Function Documentation

◆ UpdateInternal()

template<typename StateVar, typename MeasVar>
bool BFL::MixtureBootstrapFilter< SVar, MVar >::UpdateInternal ( SystemModel< StateVar > *const  sysmodel,
const StateVar u,
MeasurementModel< MeasVar, StateVar > *const  measmodel,
const MeasVar z,
const StateVar s 
)
protectedvirtual

Actual implementation of updateinternal.

Reimplemented from BFL::MixtureParticleFilter< StateVar, MeasVar >.

Definition at line 66 of file mixtureBootstrapFilter.cpp.


The documentation for this class was generated from the following files:


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 Mon Feb 28 2022 21:56:34