31 size_t out_particle_count)
36 const size_t in_particle_count = particlesCount();
40 vector<double> log_ws;
41 log_ws.assign(in_particle_count, .0);
42 for (
size_t i = 0; i < in_particle_count; i++) log_ws[i] = getW(i);
49 performSubstitution(indxs);
52 for (
size_t i = 0; i < out_particle_count; i++)
63 const vector<double>& in_logWeights, vector<size_t>& out_indexes,
64 size_t out_particle_count)
71 size_t i, j, M = in_logWeights.size();
74 if (!out_particle_count) out_particle_count = M;
76 vector<double> linW(M, 0);
77 vector<double>::const_iterator inIt;
78 vector<double>::iterator outIt;
83 for (i = 0, inIt = in_logWeights.begin(), outIt = linW.begin(); i < M;
85 linW_SUM += ((*outIt) = exp((*inIt) - max_log_w));
89 linW *= 1.0 / linW_SUM;
99 mrpt::math::cumsum_tmpl<vector<double>, vector<double>>(linW, Q);
108 sort(T.begin(), T.end());
110 out_indexes.resize(out_particle_count);
113 while (i < out_particle_count)
117 out_indexes[i++] = (
unsigned int)j;
122 if (j >= M) j = M - 1;
134 std::vector<uint32_t> N(M);
136 for (i = 0; i < M; i++)
138 N[i] = int(M * linW[i]);
141 size_t N_rnd = out_particle_count >=
R ? (out_particle_count -
R)
147 out_indexes.resize(out_particle_count);
148 for (i = 0, j = 0; i < out_particle_count; i++)
149 for (
size_t k = 0; k < N[i]; k++) out_indexes[j++] = i;
160 vector<double> linW_mod(M);
161 const double M_R_1 = 1.0 / N_rnd;
162 for (i = 0; i < M; i++)
163 linW_mod[i] = M_R_1 * (M * linW[i] - N[i]);
167 mrpt::math::cumsum_tmpl<vector<double>, vector<double>>(
176 sort(T.begin(), T.end());
185 out_indexes[M_fixed + i++] = (
unsigned int)j;
190 if (j >= M) j = M - 1;
202 mrpt::math::cumsum_tmpl<vector<double>, vector<double>>(linW, Q);
206 vector<double> T(M + 1);
207 const double _1_M = 1.0 / M;
208 const double _1_M_eps = _1_M - 0.000001;
210 for (i = 0; i < M; i++)
218 out_indexes.resize(out_particle_count);
220 while (i < out_particle_count)
223 out_indexes[i++] = (
unsigned int)j;
227 if (j >= M) j = M - 1;
238 mrpt::math::cumsum_tmpl<vector<double>, vector<double>>(linW, Q);
242 vector<double> T(M + 1);
243 double _1_M = 1.0 / M;
245 for (i = 1; i < M; i++) T[i] = T[i - 1] + _1_M;
248 out_indexes.resize(out_particle_count);
250 while (i < out_particle_count)
253 out_indexes[i++] = (
unsigned int)j;
257 if (j >= M) j = M - 1;
264 "ERROR: Unknown resampling method selected: %i", method));
281 prediction_and_update_pfStandardProposal(
282 action, observation, PF_options);
285 prediction_and_update_pfAuxiliaryPFStandard(
286 action, observation, PF_options);
289 prediction_and_update_pfOptimalProposal(
290 action, observation, PF_options);
293 prediction_and_update_pfAuxiliaryPFOptimal(
294 action, observation, PF_options);
314 "Algorithm 'pfStandardProposal' is not implemented in inherited "
327 "Algorithm 'pfAuxiliaryPFStandard' is not implemented in inherited "
340 "Algorithm 'pfOptimalProposal' is not implemented in inherited class!");
352 "Algorithm 'pfAuxiliaryPFOptimal' is not implemented in inherited "
362 const void* observation)
const
374 "resamplingMethod must be 'prMultinomial' for a dynamic number "
377 size_t i, j = 666666, M = particlesCount();
382 m_fastDrawAuxiliary.CDF.resize(
383 1 + PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS, 0);
384 m_fastDrawAuxiliary.CDF_indexes.resize(
385 PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS, 0);
389 m_fastDrawAuxiliary.PDF.resize(M, 0);
395 for (i = 0; i < M; i++)
396 m_fastDrawAuxiliary.PDF[i] =
397 partEvaluator(PF_options,
this, i, action, observation);
399 m_fastDrawAuxiliary.PDF += -
math::maximum(m_fastDrawAuxiliary.PDF);
400 for (i = 0; i < M; i++)
401 SUM += m_fastDrawAuxiliary.PDF[i] = exp(m_fastDrawAuxiliary.PDF[i]);
404 m_fastDrawAuxiliary.PDF *= 1.0 / SUM;
407 for (i = 0; i < PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS; i++)
408 m_fastDrawAuxiliary.CDF[i] =
409 ((
double)i) / ((double)PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS);
410 m_fastDrawAuxiliary.CDF[PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS] = 1.0;
414 for (i = 0, j = 0; i < M && j < PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS;
417 double CDF_next = CDF + m_fastDrawAuxiliary.PDF[i];
418 if (i == (M - 1)) CDF_next = 1.0;
419 if (CDF_next > 1.0) CDF_next = 1.0;
421 while (m_fastDrawAuxiliary.CDF[j] < CDF_next)
422 m_fastDrawAuxiliary.CDF_indexes[j++] = (
unsigned int)i;
427 ASSERT_(j == PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS);
430 #if !defined(_MSC_VER) || (_MSC_VER > 1400) // <=VC2005 doesn't work with this!
433 <<
"\nm_fastDrawAuxiliary.CDF_indexes:"
434 << m_fastDrawAuxiliary.CDF_indexes << endl;
435 cout <<
"m_fastDrawAuxiliary.CDF:"
436 << m_fastDrawAuxiliary.CDF << endl;);
449 size_t i, M = particlesCount();
450 vector<double> PDF(M, 0);
451 for (i = 0; i < M; i++)
452 PDF[i] = partEvaluator(
453 PF_options,
this, i, action,
461 vector<size_t>::iterator it;
462 std::vector<uint32_t>::iterator it2;
463 m_fastDrawAuxiliary.alreadyDrawnIndexes.resize(idxs.size());
464 for (it = idxs.begin(),
465 it2 = m_fastDrawAuxiliary.alreadyDrawnIndexes.begin();
466 it != idxs.end(); ++it, ++it2)
467 *it2 = (
unsigned int)(*it);
469 m_fastDrawAuxiliary.alreadyDrawnNextOne = 0;
491 "resamplingMethod must be 'prMultinomial' for a dynamic number "
495 double CDF_next = -1.;
502 auto j = (size_t)floor(
503 draw * ((
double)PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS - 0.05));
504 CDF = m_fastDrawAuxiliary.CDF[j];
505 size_t i = m_fastDrawAuxiliary.CDF_indexes[j];
508 while (draw > (CDF_next = CDF + m_fastDrawAuxiliary.PDF[i]))
518 "\n[CParticleFilterCapable::fastDrawSample] DEBUG: draw=%f, "
519 "CDF=%f CDF_next=%f\n",
520 draw, CDF, CDF_next););
528 if (m_fastDrawAuxiliary.alreadyDrawnNextOne >=
529 m_fastDrawAuxiliary.alreadyDrawnIndexes.size())
531 "Have you called 'fastDrawSample' more times than the sample "
532 "size? Did you forget calling 'prepareFastCall' before?");
534 return m_fastDrawAuxiliary
535 .alreadyDrawnIndexes[m_fastDrawAuxiliary.alreadyDrawnNextOne++];
545 const vector<double>& in_logWeights, vector<double>& out_linWeights)
549 size_t N = in_logWeights.size();
551 out_linWeights.resize(N);
557 for (i = 0; i < N; i++) sumW += out_linWeights[i] = exp(in_logWeights[i]);
561 for (i = 0; i < N; i++) out_linWeights[i] /= sumW;