p_condensation.h

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#ifndef MMVL_P_CONDENSATION_HH
#define MMVL_P_CONDENSATION_HH

#include "condensation.h"

namespace mimas{
  namespace hf{

    template<typename Hypothesis_T>    
    class p_condensation: public condensation<Hypothesis_T>
    {
    public:
      
      void partial_reset(const Hypothesis_T &init, float proportion, float weight_discrimination, float weight_initialization, bool drift_switch = true)
      {
  unsigned int number_particle_to_relocate =  (unsigned int)(condensation<Hypothesis_T>::hypotheses_CD.size() * proportion); 
  
  unsigned int i = 0;
  unsigned int exit_safety = 0;
  while(i < number_particle_to_relocate)
    {
      if(exit_safety >= condensation<Hypothesis_T>::hypotheses_CD.size())
        {
    break;
    std::cerr<<"Apparently their is not enough hypothesis with a lower weight to be reinitialised"<<std::endl;
        }
      int j = int(Dice::uniform_random() * condensation<Hypothesis_T>::hypotheses_CD.size());
      if( (condensation<Hypothesis_T>::hypotheses_CD.at( j ) ).weight < Dice::uniform_random() * weight_discrimination){ //to take preferably low weighted particles.
        if(drift_switch)
    condensation<Hypothesis_T>::hypotheses_CD.at( j ) = init.drift();
        else
    condensation<Hypothesis_T>::hypotheses_CD.at( j ) = init;
        (condensation<Hypothesis_T>::hypotheses_CD.at( j ) ).weight = weight_initialization; //to have less chance to take this particle again
        //and to have more chance to pick this at the filter stage.
        i++;
      }
      else
        exit_safety++;
    }   
      }

    protected:
      
      p_condensation(std::vector<Hypothesis_T> &hypotheses)
    :condensation<Hypothesis_T>(hypotheses){}

    };

  }
}
#endif

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