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ref #39 smoothing is refactored

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KDE smoothing algorithmisch mal geschrieben, jetzt noch testen
This commit is contained in:
toni
2017-12-06 17:37:14 +01:00
parent 95a5c8f34f
commit 74981c6a45
14 changed files with 1303 additions and 127 deletions
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20
smc/filtering/ParticleFilterHistory.h
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@@ -80,10 +80,10 @@ namespace SMC {
return particles;
}
/** access to all non resample particles */
const std::vector<Particle<State>>& getNonResamplingParticles() {
return particlesNoResampling;
}
/** access to all non resample particles */
const std::vector<Particle<State>>& getNonResamplingParticles() {
return particlesNoResampling;
}
/** initialize/re-start the particle filter */
void init() {
@@ -91,11 +91,11 @@ namespace SMC {
initializer->initialize(particles);
}
void setAngle(const double angle){
for(SMC::Particle<State>& p : particles){
p.state.walkState.heading = angle;
}
}
void setAngle(const double angle){
for(SMC::Particle<State>& p : particles){
p.state.walkState.heading = angle;
}
}
/** set the resampling method to use */
@@ -148,7 +148,7 @@ namespace SMC {
Assert::isNotNull(estimation, "estimation MUST not be null! call setEstimation() first!");
// perform the transition step
transition->transition(particles, control);
transition->transition(particles, control);
// perform the evaluation step and calculate the sum of all particle weights
const double weightSum = evaluation->evaluation(particles, observation);