From 09f46ac37234e15cd5e896330c6dbdeb3de34236 Mon Sep 17 00:00:00 2001
From: Markus Bullmann <markus.bullmann@fhws.de>
Date: Tue, 1 Oct 2019 10:09:13 +0200
Subject: [PATCH] Removed small probability clamp

---
 code/filter.h | 13 ++-----------
 1 file changed, 2 insertions(+), 11 deletions(-)

diff --git a/code/filter.h b/code/filter.h
index 552c209..9105d76 100644
--- a/code/filter.h
+++ b/code/filter.h
@@ -322,22 +322,13 @@ struct MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> {
 
                         double x = Distribution::Normal<double>::getProbability(ftmDist, std::sqrt(sigma), apDist);
 
-                        if (x > 1e-90)
-                        {
-                            pFtm *= x;
-                            Assert::isTrue(pFtm != 0, "zero prob");
-                        }                        
+                        pFtm *= x;
                     }
                     else
                     {
                         double x = Distribution::Normal<double>::getProbability(ftmDist, std::sqrt(sigma), apDist);
 
-                        if (x > 1e-90)
-                        {
-                            pFtm *= x;
-
-                            Assert::isTrue(pFtm != 0, "zero prob");
-                        }
+                        pFtm *= x;
                     }
                 }
             }