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Revision 477, 0.9 kB
(checked in by mido, 15 years ago)
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panove, vite, jak jsem peclivej na upravu kodu.. snad se vam bude libit:) konfigurace je v souboru /system/astylerc
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Property svn:eol-style set to
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| 1 | #include "particles.h" |
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| 2 | |
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| 3 | namespace bdm { |
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| 4 | |
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| 5 | using std::endl; |
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| 6 | |
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| 7 | void PF::bayes ( const vec &dt ) { |
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| 8 | int i; |
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| 9 | vec lls ( n ); |
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| 10 | ivec ind; |
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| 11 | double mlls = -std::numeric_limits<double>::infinity(), sum = 0.0; |
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| 12 | |
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| 13 | for ( i = 0; i < n; i++ ) { |
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| 14 | //generate new samples from paramater evolution model; |
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| 15 | _samples ( i ) = par->samplecond ( _samples ( i ) ); |
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| 16 | lls ( i ) = par->e()->evallog ( _samples ( i ) ); |
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| 17 | lls ( i ) *= obs->evallogcond ( dt, _samples ( i ) ); |
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| 18 | |
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| 19 | if ( lls ( i ) > mlls ) mlls = lls ( i ); //find maximum |
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| 20 | } |
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| 21 | |
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| 22 | // compute weights |
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| 23 | for ( i = 0; i < n; i++ ) { |
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| 24 | _w ( i ) *= exp ( lls ( i ) - mlls ); // multiply w by likelihood |
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| 25 | } |
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| 26 | |
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| 27 | //renormalize |
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| 28 | for ( i = 0; i < n; i++ ) { |
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| 29 | sum += _w ( i ); |
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| 30 | }; |
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| 31 | |
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| 32 | _w ( i ) /= sum; //? |
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| 33 | |
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| 34 | ind = est.resample ( resmethod ); |
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| 35 | |
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| 36 | } |
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| 37 | |
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| 38 | // void PF::set_est ( const epdf &epdf0 ) { |
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| 39 | // int i; |
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| 40 | // |
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| 41 | // for ( i=0;i<n;i++ ) { |
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| 42 | // _samples ( i ) = epdf0.sample(); |
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| 43 | // } |
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| 44 | // } |
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| 45 | |
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| 46 | |
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| 47 | } |
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| 48 | //MPF::MPF:{} |
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