FHWS/FtmPrologic
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Removed small probability clamp

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This commit is contained in:
Markus Bullmann
2019-10-01 10:09:13 +02:00
parent 5c80f6b61a
commit 09f46ac372
1 changed files with 2 additions and 11 deletions
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13
code/filter.h
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@@ -322,22 +322,13 @@ struct MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> {
double x = Distribution::Normal<double>::getProbability(ftmDist, std::sqrt(sigma), apDist); double x = Distribution::Normal<double>::getProbability(ftmDist, std::sqrt(sigma), apDist);
if (x > 1e-90) pFtm *= x;
{
pFtm *= x;
Assert::isTrue(pFtm != 0, "zero prob");
}
} }
else else
{ {
double x = Distribution::Normal<double>::getProbability(ftmDist, std::sqrt(sigma), apDist); double x = Distribution::Normal<double>::getProbability(ftmDist, std::sqrt(sigma), apDist);
if (x > 1e-90) pFtm *= x;
{
pFtm *= x;
Assert::isTrue(pFtm != 0, "zero prob");
}
} }
} }
} }