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Matrix in Cholesky decomposition, Square-root Kalman and many bug fixes

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16<h1>work/mixpp/bdm/estim/libPF.h</h1><a href="libPF_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
17<a name="l00013"></a>00013 <span class="preprocessor">#ifndef PF_H</span>
18<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="preprocessor">#define PF_H</span>
19<a name="l00015"></a>00015 <span class="preprocessor"></span>
20<a name="l00016"></a>00016 <span class="preprocessor">#include &lt;itpp/itbase.h&gt;</span>
21<a name="l00017"></a>00017 <span class="preprocessor">#include "../stat/libEF.h"</span>
22<a name="l00018"></a>00018 <span class="preprocessor">#include "../math/libDC.h"</span>
23<a name="l00019"></a>00019
24<a name="l00020"></a>00020 <span class="keyword">using namespace </span>itpp;
25<a name="l00021"></a>00021
26<a name="l00028"></a><a class="code" href="classPF.html">00028</a> <span class="keyword">class </span><a class="code" href="classPF.html" title="Trivial particle filter with proposal density equal to parameter evolution model...">PF</a> : <span class="keyword">public</span> <a class="code" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</a> {
27<a name="l00029"></a>00029 <span class="keyword">protected</span>:
28<a name="l00031"></a><a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280">00031</a>         <span class="keywordtype">int</span> <a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a>;
29<a name="l00033"></a><a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b">00033</a>         <a class="code" href="classeEmp.html" title="Weighted empirical density.">eEmp</a> <a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b" title="posterior density">est</a>;
30<a name="l00035"></a><a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a">00035</a>         vec &amp;<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>;
31<a name="l00037"></a><a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5">00037</a>         Array&lt;vec&gt; &amp;<a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a>;
32<a name="l00039"></a><a class="code" href="classPF.html#d92ac103f88f8c21e197e90af5695a09">00039</a>         <a class="code" href="classmpdf.html" title="Conditional probability density, e.g. modeling some dependencies.">mpdf</a> &amp;<a class="code" href="classPF.html#d92ac103f88f8c21e197e90af5695a09" title="Parameter evolution model.">par</a>;
33<a name="l00041"></a><a class="code" href="classPF.html#dd0a687a4515333d6809147335854e77">00041</a>         <a class="code" href="classmpdf.html" title="Conditional probability density, e.g. modeling some dependencies.">mpdf</a> &amp;<a class="code" href="classPF.html#dd0a687a4515333d6809147335854e77" title="Observation model.">obs</a>;
34<a name="l00042"></a>00042 <span class="keyword">public</span>:
35<a name="l00044"></a><a class="code" href="classPF.html#e99f0d866721405dd281e315ecb690aa">00044</a>         <a class="code" href="classPF.html#e99f0d866721405dd281e315ecb690aa" title="Default constructor.">PF</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &amp;rv0, <a class="code" href="classmpdf.html" title="Conditional probability density, e.g. modeling some dependencies.">mpdf</a> &amp;par0,  <a class="code" href="classmpdf.html" title="Conditional probability density, e.g. modeling some dependencies.">mpdf</a> &amp;obs0, <span class="keywordtype">int</span> n0 ) :<a class="code" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</a> ( rv0 ),
36<a name="l00045"></a>00045                         <a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a> ( n0 ),<a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b" title="posterior density">est</a> ( rv0,<a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a> ),<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> ( <a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b" title="posterior density">est</a>.<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>() ),<a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a> ( <a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b" title="posterior density">est</a>.<a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a>() ),
37<a name="l00046"></a>00046                         <a class="code" href="classPF.html#d92ac103f88f8c21e197e90af5695a09" title="Parameter evolution model.">par</a> ( par0 ), <a class="code" href="classPF.html#dd0a687a4515333d6809147335854e77" title="Observation model.">obs</a> ( obs0 ) {};
38<a name="l00047"></a>00047
39<a name="l00049"></a>00049         <span class="keywordtype">void</span> <a class="code" href="classPF.html#04d38fbcc0348b558212f530d9ec183e" title="Set posterior density by sampling from epdf0.">set_est</a> ( <span class="keyword">const</span> <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a> &amp;epdf0 );
40<a name="l00050"></a>00050         <span class="keywordtype">void</span> <a class="code" href="classPF.html#64f636bbd63bea9efd778214e6b631d3" title="Incremental Bayes rule.">bayes</a> ( <span class="keyword">const</span> vec &amp;dt );
41<a name="l00051"></a>00051 };
42<a name="l00052"></a>00052
43<a name="l00059"></a>00059 <span class="keyword">template</span>&lt;<span class="keyword">class</span> BM_T&gt;
44<a name="l00060"></a>00060
45<a name="l00061"></a><a class="code" href="classMPF.html">00061</a> <span class="keyword">class </span><a class="code" href="classMPF.html" title="Marginalized Particle filter.">MPF</a> : <span class="keyword">public</span> <a class="code" href="classPF.html" title="Trivial particle filter with proposal density equal to parameter evolution model...">PF</a> {
46<a name="l00062"></a>00062         BM_T* Bms[1000];
47<a name="l00063"></a>00063
48<a name="l00065"></a>00065
49<a name="l00066"></a>00066 <span class="keyword">class </span>mpfepdf : <span class="keyword">public</span> <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a>  {
50<a name="l00067"></a>00067         <span class="keyword">protected</span>:
51<a name="l00068"></a>00068                 <a class="code" href="classeEmp.html" title="Weighted empirical density.">eEmp</a> &amp;E;
52<a name="l00069"></a>00069                 vec &amp;<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>;
53<a name="l00070"></a>00070                 Array&lt;epdf*&gt; Coms;
54<a name="l00071"></a>00071         <span class="keyword">public</span>:
55<a name="l00072"></a>00072                 mpfepdf ( <a class="code" href="classeEmp.html" title="Weighted empirical density.">eEmp</a> &amp;E0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &amp;rvc ) :
56<a name="l00073"></a>00073                                 <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a> ( <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a>( ) ), E ( E0 ),  <a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> ( E._w() ),
57<a name="l00074"></a>00074                                 Coms ( <a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>.length() ) {
58<a name="l00075"></a>00075                         <a class="code" href="classBM.html#af00f0612fabe66241dd507188cdbf88" title="Random variable of the posterior.">rv</a>.<a class="code" href="classRV.html#4fc941a5ebc9f82aa372f54f2e02dab2" title="Add (concat) another variable to the current one.">add</a> ( E._rv() );
59<a name="l00076"></a>00076                         <a class="code" href="classBM.html#af00f0612fabe66241dd507188cdbf88" title="Random variable of the posterior.">rv</a>.<a class="code" href="classRV.html#4fc941a5ebc9f82aa372f54f2e02dab2" title="Add (concat) another variable to the current one.">add</a> ( rvc );
60<a name="l00077"></a>00077                 };
61<a name="l00078"></a>00078
62<a name="l00079"></a>00079                 <span class="keywordtype">void</span> set_elements ( <span class="keywordtype">int</span> &amp;i, <span class="keywordtype">double</span> wi, <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a>* ep )
63<a name="l00080"></a>00080                 {<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> ( i ) =wi; Coms ( i ) =ep;};
64<a name="l00081"></a>00081
65<a name="l00082"></a>00082                 vec mean()<span class="keyword"> const </span>{
66<a name="l00083"></a>00083                         <span class="comment">// ugly</span>
67<a name="l00084"></a>00084                         vec pom=zeros ( ( Coms ( 0 )-&gt;<a class="code" href="classBM.html#126bd2595c48e311fc2a7ab72876092a" title="access function">_rv</a>() ).count() );
68<a name="l00085"></a>00085
69<a name="l00086"></a>00086                         <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0; i&lt;<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>.length(); i++ ) {pom += Coms ( i )-&gt;mean() * <a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> ( i );}
70<a name="l00087"></a>00087
71<a name="l00088"></a>00088                         <span class="keywordflow">return</span> concat ( E.mean(),pom );
72<a name="l00089"></a>00089                 }
73<a name="l00090"></a>00090
74<a name="l00091"></a>00091                 vec sample()<span class="keyword"> const </span>{it_error ( <span class="stringliteral">"Not implemented"</span> );<span class="keywordflow">return</span> 0;}
75<a name="l00092"></a>00092
76<a name="l00093"></a>00093                 <span class="keywordtype">double</span> evalpdflog ( <span class="keyword">const</span> vec &amp;val )<span class="keyword"> const </span>{it_error ( <span class="stringliteral">"not implemented"</span> ); <span class="keywordflow">return</span> 0.0;}
77<a name="l00094"></a>00094         };
78<a name="l00095"></a>00095
79<a name="l00097"></a>00097         mpfepdf jest;
80<a name="l00098"></a>00098
81<a name="l00099"></a>00099 <span class="keyword">public</span>:
82<a name="l00101"></a><a class="code" href="classMPF.html#fc5e11e11eec3195e3c6503937bf02bd">00101</a>         <a class="code" href="classMPF.html#fc5e11e11eec3195e3c6503937bf02bd" title="Default constructor.">MPF</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &amp;rvlin, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &amp;rvpf, <a class="code" href="classmpdf.html" title="Conditional probability density, e.g. modeling some dependencies.">mpdf</a> &amp;par0, <a class="code" href="classmpdf.html" title="Conditional probability density, e.g. modeling some dependencies.">mpdf</a> &amp;obs0, <span class="keywordtype">int</span> <a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a>, <span class="keyword">const</span> BM_T &amp;BMcond0 ) : <a class="code" href="classPF.html" title="Trivial particle filter with proposal density equal to parameter evolution model...">PF</a> ( rvpf ,par0,obs0,n ),jest ( <a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b" title="posterior density">est</a>,rvlin ) {
83<a name="l00102"></a>00102                 <span class="comment">//</span>
84<a name="l00103"></a>00103                 <span class="comment">//TODO test if rv and BMcond.rv are compatible.</span>
85<a name="l00104"></a>00104                 <a class="code" href="classBM.html#af00f0612fabe66241dd507188cdbf88" title="Random variable of the posterior.">rv</a>.<a class="code" href="classRV.html#4fc941a5ebc9f82aa372f54f2e02dab2" title="Add (concat) another variable to the current one.">add</a> ( rvlin );
86<a name="l00105"></a>00105                 <span class="comment">//</span>
87<a name="l00106"></a>00106
88<a name="l00107"></a>00107                 <span class="keywordflow">if</span> ( n&gt;1000 ) it_error ( <span class="stringliteral">"increase 1000 here!"</span> );
89<a name="l00108"></a>00108
90<a name="l00109"></a>00109                 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i&lt;n;i++ ) {
91<a name="l00110"></a>00110                         Bms[i] = <span class="keyword">new</span> BM_T ( BMcond0 ); <span class="comment">//copy constructor</span>
92<a name="l00111"></a>00111                         <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a>&amp; pom=Bms[i]-&gt;_epdf();
93<a name="l00112"></a>00112                         jest.set_elements ( i,1.0/n,&amp;pom );
94<a name="l00113"></a>00113                 }
95<a name="l00114"></a>00114         };
96<a name="l00115"></a>00115
97<a name="l00116"></a>00116         ~<a class="code" href="classMPF.html" title="Marginalized Particle filter.">MPF</a>() {
98<a name="l00117"></a>00117         }
99<a name="l00118"></a>00118
100<a name="l00119"></a>00119         <span class="keywordtype">void</span> <a class="code" href="classMPF.html#55daf8e4b6553dd9f47c692de7931623" title="Incremental Bayes rule.">bayes</a> ( <span class="keyword">const</span> vec &amp;dt );
101<a name="l00120"></a><a class="code" href="classMPF.html#549e08268a46a250f21a33d06f19276a">00120</a>         <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a>&amp; <a class="code" href="classMPF.html#549e08268a46a250f21a33d06f19276a" title="Returns a pointer to the epdf representing posterior density on parameters. Use with...">_epdf</a>() {<span class="keywordflow">return</span> jest;}
102<a name="l00122"></a><a class="code" href="classMPF.html#7c66e1c1c0e45fc4ae765133cb3a1553">00122</a>         <span class="keywordtype">void</span> <a class="code" href="classMPF.html#7c66e1c1c0e45fc4ae765133cb3a1553" title="Set postrior of rvc to samples from epdf0. Statistics of Bms are not re-computed!...">set_est</a> ( <span class="keyword">const</span> <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a>&amp; epdf0 ) {
103<a name="l00123"></a>00123                 <a class="code" href="classPF.html#04d38fbcc0348b558212f530d9ec183e" title="Set posterior density by sampling from epdf0.">PF::set_est</a> ( epdf0 );  <span class="comment">// sample params in condition</span>
104<a name="l00124"></a>00124                 <span class="comment">// copy conditions to BMs</span>
105<a name="l00125"></a>00125
106<a name="l00126"></a>00126                 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a>;i++ ) {Bms[i]-&gt;condition ( <a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a> ( i ) );}
107<a name="l00127"></a>00127         }
108<a name="l00128"></a>00128 };
109<a name="l00129"></a>00129
110<a name="l00130"></a>00130 <span class="keyword">template</span>&lt;<span class="keyword">class</span> BM_T&gt;
111<a name="l00131"></a><a class="code" href="classMPF.html#55daf8e4b6553dd9f47c692de7931623">00131</a> <span class="keywordtype">void</span> <a class="code" href="classMPF.html#55daf8e4b6553dd9f47c692de7931623" title="Incremental Bayes rule.">MPF&lt;BM_T&gt;::bayes</a> ( <span class="keyword">const</span> vec &amp;dt ) {
112<a name="l00132"></a>00132         <span class="keywordtype">int</span> i;
113<a name="l00133"></a>00133         vec lls ( <a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a> );
114<a name="l00134"></a>00134         ivec ind;
115<a name="l00135"></a>00135         <span class="keywordtype">double</span> mlls=-std::numeric_limits&lt;double&gt;::infinity();
116<a name="l00136"></a>00136
117<a name="l00137"></a>00137         <span class="keywordflow">for</span> ( i=0;i&lt;<a class="code" href="classPF.html#2c2f44ed7a4eaa42e07bdb58d503f280" title="number of particles;">n</a>;i++ ) {
118<a name="l00138"></a>00138                 <span class="comment">//generate new samples from paramater evolution model;</span>
119<a name="l00139"></a>00139                 <a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a> ( i ) = <a class="code" href="classPF.html#d92ac103f88f8c21e197e90af5695a09" title="Parameter evolution model.">par</a>.<a class="code" href="classmpdf.html#b0193a350c97933ddf15b15a130da352" title="Returns the required moment of the epdf.">samplecond</a> ( <a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a> ( i ), lls ( i ) );
120<a name="l00140"></a>00140                 Bms[i]-&gt;condition ( <a class="code" href="classPF.html#cf7dad75e31215780a746c30e71ad9c5" title="pointer into eEmp ">_samples</a> ( i ) );
121<a name="l00141"></a>00141                 Bms[i]-&gt;bayes ( dt );
122<a name="l00142"></a>00142                 lls ( i ) = Bms[i]-&gt;_ll(); <span class="comment">// lls above is also in proposal her must be lls(i) =, not +=!!</span>
123<a name="l00143"></a>00143
124<a name="l00144"></a>00144                 <span class="keywordflow">if</span> ( lls ( i ) &gt;mlls ) mlls=lls ( i ); <span class="comment">//find maximum likelihood (for numerical stability)</span>
125<a name="l00145"></a>00145         }
126<a name="l00146"></a>00146
127<a name="l00147"></a>00147         <span class="comment">// compute weights</span>
128<a name="l00148"></a>00148         <span class="keywordflow">for</span> ( i=0;i&lt;n;i++ ) {
129<a name="l00149"></a>00149                 <a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> ( i ) *= exp ( lls ( i ) - mlls ); <span class="comment">// multiply w by likelihood</span>
130<a name="l00150"></a>00150         }
131<a name="l00151"></a>00151
132<a name="l00152"></a>00152         <a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> /=sum(<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>); <span class="comment">//?</span>
133<a name="l00153"></a>00153
134<a name="l00154"></a>00154         <span class="keywordtype">double</span> eff = 1.0/( <a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a>*<a class="code" href="classPF.html#5c87aba508df321ff26536ced64dbb3a" title="pointer into eEmp ">_w</a> );
135<a name="l00155"></a>00155         <span class="keywordflow">if</span> ( eff &lt; ( 0.1*n ) ) {
136<a name="l00156"></a>00156                 ind = <a class="code" href="classPF.html#1a0a09e309da997f63ae8e30d1e9806b" title="posterior density">est</a>.<a class="code" href="classeEmp.html#77268292fc4465cb73ddbfb1f2932a59" title="Function performs resampling, i.e. removal of low-weight samples and duplication...">resample</a>();
137<a name="l00157"></a>00157                 <span class="comment">// Resample Bms!</span>
138<a name="l00158"></a>00158
139<a name="l00159"></a>00159                 <span class="keywordflow">for</span> ( i=0;i&lt;n;i++ ) {
140<a name="l00160"></a>00160                         <span class="keywordflow">if</span> ( ind ( i ) !=i ) {<span class="comment">//replace the current Bm by a new one</span>
141<a name="l00161"></a>00161                                 <span class="comment">//fixme this would require new assignment operator</span>
142<a name="l00162"></a>00162                                 <span class="comment">// *Bms[i] = *Bms[ind ( i ) ];</span>
143<a name="l00163"></a>00163                                 
144<a name="l00164"></a>00164                                 <span class="comment">// poor-man's solution: replicate constructor here</span>
145<a name="l00165"></a>00165                                 <span class="comment">// copied from MPF::MPF</span>
146<a name="l00166"></a>00166                                 <span class="keyword">delete</span> Bms[i];
147<a name="l00167"></a>00167                                 Bms[i] = <span class="keyword">new</span> BM_T ( *Bms[ind ( i ) ] ); <span class="comment">//copy constructor</span>
148<a name="l00168"></a>00168                                 <a class="code" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a>&amp; pom=Bms[i]-&gt;_epdf();
149<a name="l00169"></a>00169                                 jest.set_elements ( i,1.0/n,&amp;pom );
150<a name="l00170"></a>00170                         }
151<a name="l00171"></a>00171                 };
152<a name="l00172"></a>00172                 cout &lt;&lt; <span class="charliteral">'.'</span>;
153<a name="l00173"></a>00173         }
154<a name="l00174"></a>00174 }
155<a name="l00175"></a>00175
156<a name="l00176"></a>00176 <span class="preprocessor">#endif // KF_H</span>
157<a name="l00177"></a>00177 <span class="preprocessor"></span>
158<a name="l00178"></a>00178
159</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Wed Mar 12 16:15:44 2008 for mixpp by&nbsp;
160<a href="http://www.doxygen.org/index.html">
161<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
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