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test KF : estimation of R in KF is not possible! Likelihood of y_t is growing when R -> 0

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1\section{PF Class Reference}
2\label{classPF}\index{PF@{PF}}
3Trivial particle filter with proposal density equal to parameter evolution model. 
4
5
6{\tt \#include $<$libPF.h$>$}
7
8Inheritance diagram for PF:\nopagebreak
9\begin{figure}[H]
10\begin{center}
11\leavevmode
12\includegraphics[width=65pt]{classPF__inherit__graph}
13\end{center}
14\end{figure}
15Collaboration diagram for PF:\nopagebreak
16\begin{figure}[H]
17\begin{center}
18\leavevmode
19\includegraphics[width=96pt]{classPF__coll__graph}
20\end{center}
21\end{figure}
22\subsection*{Public Member Functions}
23\begin{CompactItemize}
24\item 
25\textbf{PF} (const {\bf RV} \&rv0, {\bf mpdf} \&par0, {\bf mpdf} \&obs0, int {\bf n})\label{classPF_e9604b7fc87ff5e61da4de4a04210bfc}
26
27\item 
28void \textbf{set\_\-est} (const {\bf epdf} $\ast$\&epdf0)\label{classPF_c5caa2c15604338b773d7a8125e7a1b5}
29
30\item 
31void {\bf bayes} (const vec \&dt)
32\begin{CompactList}\small\item\em Incremental Bayes rule. \item\end{CompactList}\item 
33void {\bf bayes} (mat Dt)\label{classBM_87b07867fd4c133aa89a18543f68d9f9}
34
35\begin{CompactList}\small\item\em Batch Bayes rule (columns of Dt are observations). \item\end{CompactList}\item 
36virtual {\bf epdf} \& {\bf \_\-epdf} ()=0\label{classBM_3dc45554556926bde996a267636abe55}
37
38\begin{CompactList}\small\item\em Returns a pointer to the \doxyref{epdf}{p.}{classepdf} representing posterior density on parameters. Use with care! \item\end{CompactList}\end{CompactItemize}
39\subsection*{Protected Attributes}
40\begin{CompactItemize}
41\item 
42int {\bf n}\label{classPF_2c2f44ed7a4eaa42e07bdb58d503f280}
43
44\begin{CompactList}\small\item\em number of particles; \item\end{CompactList}\item 
45{\bf eEmp} {\bf ePdf}\label{classPF_a2ac56d1e3ffbb4ff0b3f02e6399deb0}
46
47\begin{CompactList}\small\item\em posterior density \item\end{CompactList}\item 
48vec \& {\bf w}\label{classPF_a97d12da4d1832c0b0c6ec5877f921f0}
49
50\begin{CompactList}\small\item\em pointer into {\tt \doxyref{eEmp}{p.}{classeEmp}} \item\end{CompactList}\item 
51Array$<$ vec $>$ \& {\bf samples}\label{classPF_361743a0b5b89de1a29e91d1343b2565}
52
53\begin{CompactList}\small\item\em pointer into {\tt \doxyref{eEmp}{p.}{classeEmp}} \item\end{CompactList}\item 
54{\bf mpdf} \& {\bf par}\label{classPF_d92ac103f88f8c21e197e90af5695a09}
55
56\begin{CompactList}\small\item\em Parameter evolution model. \item\end{CompactList}\item 
57{\bf mpdf} \& {\bf obs}\label{classPF_dd0a687a4515333d6809147335854e77}
58
59\begin{CompactList}\small\item\em Observation model. \item\end{CompactList}\item 
60{\bf RV} {\bf rv}\label{classBM_af00f0612fabe66241dd507188cdbf88}
61
62\begin{CompactList}\small\item\em Random variable of the posterior. \item\end{CompactList}\item 
63double {\bf ll}\label{classBM_5623fef6572a08c2b53b8c87b82dc979}
64
65\begin{CompactList}\small\item\em Logarithm of marginalized data likelihood. \item\end{CompactList}\item 
66bool {\bf evalll}\label{classBM_bf6fb59b30141074f8ee1e2f43d03129}
67
68\begin{CompactList}\small\item\em If true, the filter will compute likelihood of the data record and store it in {\tt ll} . Set to false if you want to save time. \item\end{CompactList}\end{CompactItemize}
69
70
71\subsection{Detailed Description}
72Trivial particle filter with proposal density equal to parameter evolution model.
73
74Posterior density is represented by a weighted empirical density ({\tt \doxyref{eEmp}{p.}{classeEmp}} ).
75
76\subsection{Member Function Documentation}
77\index{PF@{PF}!bayes@{bayes}}
78\index{bayes@{bayes}!PF@{PF}}
79\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void PF::bayes (const vec \& {\em dt})\hspace{0.3cm}{\tt  [virtual]}}\label{classPF_64f636bbd63bea9efd778214e6b631d3}
80
81
82Incremental Bayes rule.
83
84\begin{Desc}
85\item[Parameters:]
86\begin{description}
87\item[{\em dt}]vector of input data \end{description}
88\end{Desc}
89
90
91Implements {\bf BM} \doxyref{}{p.}{classBM_a892eff438aab2dd1a9e2efcb7fb5bdf}.
92
93Reimplemented in {\bf MPF$<$ BM\_\-T $>$} \doxyref{}{p.}{classMPF_55daf8e4b6553dd9f47c692de7931623}.
94
95The documentation for this class was generated from the following files:\begin{CompactItemize}
96\item 
97work/mixpp/bdm/estim/{\bf libPF.h}\item 
98work/mixpp/bdm/estim/libPF.cpp\end{CompactItemize}
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