Removed small probability clamp

2019-10-01 10:09:13 +02:00
parent 5c80f6b61a
commit 09f46ac372
1 changed files with 2 additions and 11 deletions
--- 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;
                    }
                }
            }