root/bdm/estim/libKF.cpp @ 357

#include "libKF.h"
#include "..\user_info.h"

namespace bdm{

using std::endl;

KalmanFull::KalmanFull ( mat A0, mat B0, mat C0, mat D0, mat Q0, mat R0, mat P0, vec mu0 ) {
        dimx = A0.rows();
        dimu = B0.cols();
        dimy = C0.rows();

        it_assert_debug ( A0.cols() ==dimx, "KalmanFull: A is not square" );
        it_assert_debug ( B0.rows() ==dimx, "KalmanFull: B is not compatible" );
        it_assert_debug ( C0.cols() ==dimx, "KalmanFull: C is not square" );
        it_assert_debug ( ( D0.rows() ==dimy ) || ( D0.cols() ==dimu ), "KalmanFull: D is not compatible" );
        it_assert_debug ( ( Q0.cols() ==dimx ) || ( Q0.rows() ==dimx ), "KalmanFull: Q is not compatible" );
        it_assert_debug ( ( R0.cols() ==dimy ) || ( R0.rows() ==dimy ), "KalmanFull: R is not compatible" );

        A = A0;
        B = B0;
        C = C0;
        D = D0;
        R = R0;
        Q = Q0;
        mu = mu0;
        P = P0;
        
        ll = 0.0;
        evalll=true;
}

void KalmanFull::bayes ( const vec &dt ) {
        it_assert_debug ( dt.length() == ( dimy+dimu ),"KalmanFull::bayes wrong size of dt" );

        vec u = dt.get ( dimy,dimy+dimu-1 );
        vec y = dt.get ( 0,dimy-1 );
        //Time update
        mu = A*mu + B*u;
        P  = A*P*A.transpose() + Q;

        //Data update
        _Ry = C*P*C.transpose() + R;
        _iRy = inv ( _Ry );
        _K = P*C.transpose() *_iRy;
        P -= _K*C*P; // P = P -KCP;
        mu += _K* ( y-C*mu-D*u );

        if ( evalll ) {
                //from enorm
                vec x=y-C*mu-D*u;
                ll = -0.5* ( R.cols() * 1.83787706640935 +log ( det ( _Ry ) ) +x* ( _iRy*x ) );
        }
};

std::ostream &operator<< ( std::ostream &os, const KalmanFull &kf ) {
        os << "mu:" << kf.mu << endl << "P:" << kf.P <<endl;
        return os;
}



 /////////////////////////////// EKFS
EKFfull::EKFfull ( ) : BM (),E() {};

void EKFfull::set_parameters ( diffbifn* pfxu0,  diffbifn* phxu0,const mat Q0,const mat R0 ) {
        pfxu = pfxu0;
        phxu = phxu0;

        dimx = pfxu0->_dimx();
        dimy = phxu0->dimension();
        dimu = pfxu0->_dimu();
        E.epdf::set_parameters(dimx);
        
        A.set_size(dimx,dimx);
        C.set_size(dimy,dimx);
        //initialize matrices A C, later, these will be only updated!
        pfxu->dfdx_cond ( mu,zeros ( dimu ),A,true );
        B.clear();
        phxu->dfdx_cond ( mu,zeros ( dimu ),C,true );
        D.clear();

        R = R0;
        Q = Q0;
}

void EKFfull::bayes ( const vec &dt ) {
        it_assert_debug ( dt.length() == ( dimy+dimu ),"KalmanFull::bayes wrong size of dt" );

        vec u = dt.get ( dimy,dimy+dimu-1 );
        vec y = dt.get ( 0,dimy-1 );
        
        pfxu->dfdx_cond ( mu,zeros ( dimu ),A,true );
        phxu->dfdx_cond ( mu,zeros ( dimu ),C,true );

        //Time update
        mu = pfxu->eval(mu,u);// A*mu + B*u;
        P  = A*P*A.transpose() + Q;

        //Data update
        _Ry = C*P*C.transpose() + R;
        _iRy = inv ( _Ry );
        _K = P*C.transpose() *_iRy;
        P -= _K*C*P; // P = P -KCP;
        vec yp = phxu->eval(mu,u);
        mu += _K* ( y-yp );

        E.set_mu(mu);

        if ( BM::evalll ) {
                //from enorm
                vec x=y-yp;
                BM::ll = -0.5* ( R.cols() * 1.83787706640935 +log ( det ( _Ry ) ) +x* ( _iRy*x ) );
        }
};



void KalmanCh::set_parameters ( const mat &A0,const mat &B0,const mat &C0,const mat &D0,const chmat &Q0,const chmat &R0 ) {

        ( ( Kalman<chmat>* ) this )->set_parameters ( A0,B0,C0,D0,Q0,R0 );
        // Cholesky special!
        preA=zeros(dimy+dimx+dimx,dimy+dimx);
//      preA.clear();
        preA.set_submatrix ( 0,0,R._Ch() );
        preA.set_submatrix ( dimy+dimx,dimy,Q._Ch() );
}


void KalmanCh::bayes ( const vec &dt ) {

        vec u = dt.get ( dimy,dimy+dimu-1 );
        vec y = dt.get ( 0,dimy-1 );
        vec pom(dimy);
        
        //TODO get rid of Q in qr()!
//      mat Q;

        //R and Q are already set in set_parameters()
        preA.set_submatrix ( dimy,0, ( _P._Ch() ) *C.T() );
        //Fixme can be more efficient if .T() is not used
        preA.set_submatrix ( dimy,dimy, ( _P._Ch() ) *A.T() );

//      if ( !qr ( preA,Q,postA ) ) it_warning ( "QR in kalman unstable!" );
        if ( !qr ( preA,postA ) ) {it_warning ( "QR in kalman unstable!" );}

        ( _Ry._Ch() ) =postA ( 0,dimy-1, 0,dimy-1 );
        _K = inv(A)*( postA ( 0,dimy-1 ,dimy,dimy+dimx-1 ) ).T();
        ( _P._Ch() ) = postA ( dimy,dimy+dimx-1,dimy,dimy+dimx-1 );
        
        _mu = A* ( _mu ) + B*u;
        _yp = C*_mu -D*u;
        
        backward_substitution(_Ry._Ch(),( y-_yp),pom);
        _mu +=  ( _K ) * pom;

/*              cout << "P:" <<_P.to_mat() <<endl;
                cout << "Ry:" <<_Ry.to_mat() <<endl;
                cout << "_K:" <<_K <<endl;*/
        
        if ( evalll==true ) { //likelihood of observation y
                ll=fy.evallog ( y );
        }
}



void EKFCh::set_parameters ( diffbifn* pfxu0,  diffbifn* phxu0,const chmat Q0,const chmat R0 ) {
        pfxu = pfxu0;
        phxu = phxu0;

        dimx = pfxu0->dimension();
        dimy = phxu0->dimension();
        dimu = pfxu0->_dimu();
        // if mu is not set, set it to zeros, just for constant terms of A and C 
        if (_mu.length()!=dimx) _mu=zeros(dimx);
        A=zeros(dimx,dimx);
        C=zeros(dimy,dimx);
        preA=zeros(dimy+dimx+dimx, dimy+dimx);
        
        //initialize matrices A C, later, these will be only updated!
        pfxu->dfdx_cond ( _mu,zeros ( dimu ),A,true );
//      pfxu->dfdu_cond ( *_mu,zeros ( dimu ),B,true );
        B.clear();
        phxu->dfdx_cond ( _mu,zeros ( dimu ),C,true );
//      phxu->dfdu_cond ( *_mu,zeros ( dimu ),D,true );
        D.clear();

        R = R0;
        Q = Q0;

        // Cholesky special!
        preA.clear();
        preA.set_submatrix ( 0,0,R._Ch() );
        preA.set_submatrix ( dimy+dimx,dimy,Q._Ch() );
}


void EKFCh::bayes ( const vec &dt ) {

        vec pom(dimy);
        vec u = dt.get ( dimy,dimy+dimu-1 );
        vec y = dt.get ( 0,dimy-1 );

        pfxu->dfdx_cond ( _mu,u,A,false ); //update A by a derivative of fx
        phxu->dfdx_cond ( _mu,u,C,false ); //update A by a derivative of fx

        //R and Q are already set in set_parameters()
        preA.set_submatrix ( dimy,0, ( _P._Ch() ) *C.T() );
        //Fixme can be more efficient if .T() is not used
        preA.set_submatrix ( dimy,dimy, ( _P._Ch() ) *A.T() );

//      mat Sttm = _P->to_mat();
//      cout << preA <<endl;
//      cout << "_mu:" << _mu <<endl;

//      if ( !qr ( preA,Q,postA ) ) it_warning ( "QR in kalman unstable!" );
        if ( !qr ( preA,postA ) ) {it_warning ( "QR in kalman unstable!" );}


        ( _Ry._Ch() ) =postA ( 0,dimy-1, 0,dimy-1 );
        _K = inv(A)*( postA ( 0,dimy-1 ,dimy,dimy+dimx-1 ) ).T();
        ( _P._Ch() ) = postA ( dimy,dimy+dimx-1,dimy,dimy+dimx-1 );
        
//      mat iRY = inv(_Ry->to_mat());
//      mat Stt = Sttm - Sttm * C.T() * iRY * C * Sttm;
//      mat _K2 = Stt*C.T()*inv(R.to_mat());

        // prediction
        _mu = pfxu->eval ( _mu ,u );
        _yp = phxu->eval ( _mu,u );
        
/*      vec mu2 = *_mu + ( _K2 ) * ( y-*_yp );*/
        
        //correction //= initial value is already prediction!
        backward_substitution(_Ry._Ch(),( y-_yp ),pom);
        _mu += ( _K ) *pom ;

/*      _K = (_P->to_mat())*C.transpose() * ( _iRy->to_mat() );
        *_mu = pfxu->eval ( *_mu ,u ) + ( _K )* ( y-*_yp );*/
        
//              cout << "P:" <<_P.to_mat() <<endl;
//              cout << "Ry:" <<_Ry.to_mat() <<endl;
//      cout << "_mu:" <<_mu <<endl;
//      cout << "dt:" <<dt <<endl;

        if ( evalll==true ) { //likelihood of observation y
                ll=fy.evallog ( y );
        }
}

void EKFCh::from_setting( const Setting &root ) 
{       
        diffbifn* IM = UI::build<diffbifn>(root, "IM");
        diffbifn* OM = UI::build<diffbifn>(root, "OM");
        
        //statistics
        int dim=IM->dimension();
        vec mu0;
        if(root.exists("mu0"))
                UI::get( mu0, root, "mu0");
        else
                mu0=zeros(dim);

        mat P0;
        if(root.exists("dP0"))
        {
                vec dP0;
                UI::get( dP0, root, "dP0");
                P0=diag(dP0);
        }
        else if ( root.exists( "P0" ) )
                UI::get(P0, root, "P0");
        else
                P0=eye(dim);
        
        set_statistics(mu0,P0);
        
        //parameters
        vec dQ, dR;
        UI::get( dQ, root, "dQ");
        UI::get( dR, root, "dR");
        set_parameters(IM, OM, diag(dQ), diag(dR));

        //connect
        RV* drv = UI::build<RV>(root, "drv");
        set_drv(*drv);
        RV* rv = UI::build<RV>(root, "rv");
        set_rv(*rv);
        
        string options;
        if(root.lookupValue( "options", options ))
                set_options(options);   
}

/*void EKFCh::to_setting( Setting &root ) const
{       
        Transport::to_setting( root );

        Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
        kilometers_setting = kilometers;

        UI::save( passengers, root, "passengers" );
}*/

void MultiModel::from_setting( const Setting &root ) 
{       
        Array<EKFCh*> A;
        UI::get( A, root, "models");
        
        set_parameters(A);
        set_drv(A(0)->_drv());
        //set_rv(A(0)->_rv());

        string options;
        if(root.lookupValue( "options", options ))
                set_options(options);   
}

/*void MultiModel::to_setting( Setting &root ) const
{       
        Transport::to_setting( root );

        Setting &kilometers_setting = root.add("kilometers", Setting::TypeInt );
        kilometers_setting = kilometers;

        UI::save( passengers, root, "passengers" );
}*/


}