FHWS/Indoor
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added stuff for bluetooth

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worked on resampling methods
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mail@toni-fetzer.de
2019-06-05 18:09:15 +02:00
parent cb61e0fe68
commit 8d37e94647
12 changed files with 472 additions and 320 deletions
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4
smc/merging/mixing/MixingSamplerDivergency.h
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@@ -100,7 +100,7 @@ namespace SMC {
auto mode = drawMode(cumTransitionModeProbability);
newParticles[k] = drawParticle(mode);
newParticles[k].weight = equalWeight;
newParticles[k].weight = equalWeight; //todo: why equal weight? i guess if the different filters have different representations of probability?
}
focusedFilter.setParticles(newParticles);
@@ -133,7 +133,7 @@ namespace SMC {
/** draw one particle according to its weight from the copy vector of a given mode */
const Particle<State>& drawParticle(ParticleFilterMixing<State, Control, Observation>& filter) {
double weights = filter.getParticles().back().weight;
//double weights = filter.getParticles().back().weight;
// generate random values between [0:cumWeight]
std::uniform_real_distribution<float> dist(0, filter.getParticles().back().weight);