struct SimpleParticlePDF

Overview

Simple particle filter holding double values.

struct SimpleParticlePDF:
    public mrpt::bayes::CParticleFilterData,
    public mrpt::bayes::CParticleFilterDataImpl
{
};

// direct descendants

struct ResamplingTestPDF;

Inherited Members

public:
    // typedefs

    typedef T CParticleDataContent;
    typedef CProbabilityParticle<T, STORAGE> CParticleData;
    typedef std::deque<CParticleData> CParticleList;
    typedef std::function<double(const bayes::CParticleFilter::TParticleFilterOptions&PF_options, const CParticleFilterCapable*obj, size_t index, const void*action, const void*observation)> TParticleProbabilityEvaluator;

    // structs

    struct TFastDrawAuxVars;

    // fields

    static const particle_storage_mode PARTICLE_STORAGE = STORAGE;
    CParticleList m_particles;

    // methods

    void clearParticles();

    template <class STREAM>
    void writeParticlesToStream(STREAM& out) const;

    template <class STREAM>
    void readParticlesFromStream(STREAM& in);

    void getWeights(std::vector<double>& out_logWeights) const;
    std::vector<double> getWeights() const;
    const CParticleData* getMostLikelyParticle() const;

    void prepareFastDrawSample(
        const bayes::CParticleFilter::TParticleFilterOptions& PF_options,
        TParticleProbabilityEvaluator partEvaluator = defaultEvaluator,
        const void* action = nullptr,
        const void* observation = nullptr
        ) const;

    size_t fastDrawSample(const bayes::CParticleFilter::TParticleFilterOptions& PF_options) const;
    virtual double getW(size_t i) const = 0;
    virtual void setW(size_t i, double w) = 0;
    virtual size_t particlesCount() const = 0;
    void prediction_and_update(const mrpt::obs::CActionCollection* action, const mrpt::obs::CSensoryFrame* observation, const bayes::CParticleFilter::TParticleFilterOptions& PF_options);
    virtual void performSubstitution(const std::vector<size_t>& indx) = 0;
    virtual double normalizeWeights(double* out_max_log_w = nullptr) = 0;
    virtual double ESS() const = 0;
    void performResampling(const bayes::CParticleFilter::TParticleFilterOptions& PF_options, size_t out_particle_count = 0);

    static double defaultEvaluator(
        ] const bayes::CParticleFilter::TParticleFilterOptions& PF_options,
        ] const CParticleFilterCapable* obj,
        size_t index,
        ] const void* action,
        ] const void* observation
        );

    static void computeResampling(
        CParticleFilter::TParticleResamplingAlgorithm method,
        const std::vector<double>& in_logWeights,
        std::vector<size_t>& out_indexes,
        size_t out_particle_count = 0
        );

    static void log2linearWeights(
        const std::vector<double>& in_logWeights,
        std::vector<double>& out_linWeights
        );

    static std::vector<double> logWeightsToLinear(const std::vector<double>& in_logWeights);
    const Derived& derived() const;
    Derived& derived();
    virtual double getW(size_t i) const;
    virtual void setW(size_t i, double w);
    virtual size_t particlesCount() const;
    virtual double normalizeWeights(double* out_max_log_w = nullptr);
    virtual double ESS() const;
    virtual void performSubstitution(const std::vector<size_t>& indx);