The configuration of a particle filter. More...
#include <mrpt/bayes/CParticleFilter.h>
Public Member Functions | |
TParticleFilterOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See mrpt::utils::CLoadableOptions. | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
See mrpt::utils::CLoadableOptions. | |
Public Attributes | |
bool | adaptiveSampleSize |
A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false). | |
double | BETA |
The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5). | |
unsigned int | sampleSize |
The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1). | |
unsigned int | pfAuxFilterOptimal_MaximumSearchSamples |
In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", the number of samples for searching the maximum likelihood value (see papers!) (default=100). | |
double | powFactor |
An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects). | |
TParticleFilterAlgorithm | PF_algorithm |
The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities. | |
TParticleResamplingAlgorithm | resamplingMethod |
The resampling algorithm to use (default=prMultinomial). | |
double | max_loglikelihood_dyn_range |
Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded. |
The configuration of a particle filter.
Definition at line 103 of file CParticleFilter.h.
mrpt::bayes::CParticleFilter::TParticleFilterOptions::TParticleFilterOptions | ( | ) |
Initilization of default parameters.
void mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream | ( | mrpt::utils::CStream & | out | ) | const [virtual] |
See mrpt::utils::CLoadableOptions.
Implements mrpt::utils::CLoadableOptions.
void mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
See mrpt::utils::CLoadableOptions.
Implements mrpt::utils::CLoadableOptions.
A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false).
Definition at line 122 of file CParticleFilter.h.
The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5).
Definition at line 126 of file CParticleFilter.h.
Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded.
This is done to assure that the rejection sampling doesn't get stuck in an infinite loop trying to get an acceptable sample. Default = 15 (in logarithmic likelihood)
Definition at line 153 of file CParticleFilter.h.
The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities.
Definition at line 142 of file CParticleFilter.h.
unsigned int mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples |
In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", the number of samples for searching the maximum likelihood value (see papers!) (default=100).
Definition at line 134 of file CParticleFilter.h.
An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects).
Definition at line 138 of file CParticleFilter.h.
The resampling algorithm to use (default=prMultinomial).
Definition at line 146 of file CParticleFilter.h.
The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1).
Definition at line 130 of file CParticleFilter.h.
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