mimas::hf::p_condensation< Hypothesis_T > Class Template Reference
[Particle filter]

a picking policy More...

#include <p_condensation.h>

Inheritance diagram for mimas::hf::p_condensation< Hypothesis_T >:

[legend]Collaboration diagram for mimas::hf::p_condensation< Hypothesis_T >:

[legend]List of all members.

Public Member Functions
void	partial_reset (const Hypothesis_T &init, float proportion, float weight_discrimination, float weight_initialization, bool drift_switch=true)
	This should be called before the filter stage occured: suppose the previous position has been identified with a reasonably good degree of confidence.
Protected Member Functions
	p_condensation (std::vector< Hypothesis_T > &hypotheses)

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Detailed Description

template<typename Hypothesis_T>
class mimas::hf::p_condensation< Hypothesis_T >

a picking policy

The same as condensation with the possibility to reinitialised part of the hypotheses.

Definition at line 15 of file p_condensation.h.

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Constructor & Destructor Documentation

template<typename Hypothesis_T>

mimas::hf::p_condensation< Hypothesis_T >::p_condensation

(

std::vector< Hypothesis_T > &

hypotheses

)

[inline, protected]

Definition at line 62 of file p_condensation.h.

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Member Function Documentation

template<typename Hypothesis_T>

void mimas::hf::p_condensation< Hypothesis_T >::partial_reset	(	const Hypothesis_T &	init,
		float	proportion,
		float	weight_discrimination,
		float	weight_initialization,
		bool	drift_switch = true
	)			[inline]

This should be called before the filter stage occured: suppose the previous position has been identified with a reasonably good degree of confidence.

Then we can relocate around this position the previous hypotheses that had a low weight.

Another way is to look at all hypotheses and partial reinitialise around the best one.

proportion must be between 0 and 1

!!!research work to be done to automate finding of optimal parametres

Definition at line 32 of file p_condensation.h.

References Dice::uniform_random().

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The documentation for this class was generated from the following file:

• p_condensation.h

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