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<a href="_c_particle_filter_data_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CParticleFilterData_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CParticleFilterData_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_probability_particle_8h.html">mrpt/bayes/CProbabilityParticle.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <algorithm></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>bayes
<a name="l00039"></a>00039 {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** This template class declares the array of particles and its internal data, managing some memory-related issues and providing an easy implementation of virtual methods required for implementing a CParticleFilterCapable.</span>
<a name="l00041"></a>00041 <span class="comment"> * By adding IMPLEMENT_PARTICLE_FILTER_CAPABLE(T) to the body of the declaration of classes inheriting from both CParticleFilterData and CParticleFilterCapable, the following</span>
<a name="l00042"></a>00042 <span class="comment"> * pure virtual methods are automatically implemented (the param T must be equal to the argument of the template CParticleFilterData).</span>
<a name="l00043"></a>00043 <span class="comment"> * - CParticleFilterCapable::getW</span>
<a name="l00044"></a>00044 <span class="comment"> * - CParticleFilterCapable::setW</span>
<a name="l00045"></a>00045 <span class="comment"> * - CParticleFilterCapable::particlesCount</span>
<a name="l00046"></a>00046 <span class="comment"> * - CParticleFilterCapable::normalizeWeights</span>
<a name="l00047"></a>00047 <span class="comment"> * - CParticleFilterCapable::ESS</span>
<a name="l00048"></a>00048 <span class="comment"> * - CParticleFilterCapable::performSubstitution</span>
<a name="l00049"></a>00049 <span class="comment"> *</span>
<a name="l00050"></a>00050 <span class="comment"> * Since CProbabilityParticle implements all the required operators, the member "m_particles" can be safely copied with "=" or copy constructor operators</span>
<a name="l00051"></a>00051 <span class="comment"> * and new objects will be created internally instead of copying the internal pointers, which would lead to memory corruption.</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * \sa CParticleFilter, CParticleFilterCapable, IMPLEMENT_PARTICLE_FILTER_CAPABLE</span>
<a name="l00054"></a>00054 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00057"></a>00057 <span class="keyword">class </span>CParticleFilterData
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="keyword">public</span>:
<a name="l00060"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">00060</a> <span class="keyword">typedef</span> T <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b" title="This is the type inside the corresponding CParticleData class.">CParticleDataContent</a>; <span class="comment">//!< This is the type inside the corresponding CParticleData class</span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">00061</a> <span class="comment"></span> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html" title="A template class for holding a the data and the weight of a particle.">CProbabilityParticle<T></a> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4" title="Use this to refer to each element in the m_particles array.">CParticleData</a>; <span class="comment">//!< Use this to refer to each element in the m_particles array.</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">00062</a> <span class="comment"></span> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1deque.html">::deque<CParticleData></a> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537" title="Use this type to refer to the list of particles m_particles.">CParticleList</a>; <span class="comment">//!< Use this type to refer to the list of particles m_particles.</span>
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">00064</a> <a class="code" href="classstd_1_1deque.html">CParticleList</a> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>; <span class="comment">//!< The array of particles</span>
<a name="l00065"></a>00065 <span class="comment"></span><span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Default constructor */</span>
<a name="l00067"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a18608b3720c56d101a17cc60ee4a81ba">00067</a> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a18608b3720c56d101a17cc60ee4a81ba" title="Default constructor.">CParticleFilterData</a>() : <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>(0)
<a name="l00068"></a>00068 { }
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Free the memory of all the particles and reset the array "m_particles" to length zero.</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9">00072</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9" title="Free the memory of all the particles and reset the array "m_particles" to length zero.">clearParticles</a>()
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00075"></a>00075 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">CParticleList::iterator</a> it=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.begin();it!=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.end();it++)
<a name="l00076"></a>00076 <span class="keywordflow">if</span> (it->d) <span class="keyword">delete</span> it->d;
<a name="l00077"></a>00077 <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.clear();
<a name="l00078"></a>00078 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Virtual destructor</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aeb290a2561028d5f039417601516c94b">00083</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aeb290a2561028d5f039417601516c94b" title="Virtual destructor.">~CParticleFilterData</a>()
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00086"></a>00086 <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9" title="Free the memory of all the particles and reset the array "m_particles" to length zero.">clearParticles</a>();
<a name="l00087"></a>00087 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).</span>
<a name="l00091"></a>00091 <span class="comment"> * \sa readParticlesFromStream</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ac5571368ccef88d4c205b43b9f6d630d">00093</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ac5571368ccef88d4c205b43b9f6d630d" title="Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable)...">writeParticlesToStream</a>( <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">utils::CStream</a> &out )<span class="keyword"> const</span>
<a name="l00094"></a>00094 <span class="keyword"> </span>{
<a name="l00095"></a>00095 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00096"></a>00096 uint32_t n = <span class="keyword">static_cast<</span>uint32_t<span class="keyword">></span>(<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.size());
<a name="l00097"></a>00097 out << n;
<a name="l00098"></a>00098 <span class="keyword">typename</span> <a class="code" href="classstd_1_1deque.html">CParticleList</a><a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::const_iterator</a> it;
<a name="l00099"></a>00099 <span class="keywordflow">for</span> (it=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.begin();it!=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.end();it++)
<a name="l00100"></a>00100 out << it->log_w << (*it->d);
<a name="l00101"></a>00101 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).</span>
<a name="l00105"></a>00105 <span class="comment"> * \sa writeParticlesToStream</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ad32e2f80aeab31b21184d7e1bde687bc">00107</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ad32e2f80aeab31b21184d7e1bde687bc" title="Reads the sequence of particles and their weights from a stream (requires T implementing CSerializabl...">readParticlesFromStream</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">utils::CStream</a> &in)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00110"></a>00110 <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9" title="Free the memory of all the particles and reset the array "m_particles" to length zero.">clearParticles</a>(); <span class="comment">// Erase previous content:</span>
<a name="l00111"></a>00111 uint32_t n;
<a name="l00112"></a>00112 in >> n;
<a name="l00113"></a>00113 <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.resize(n);
<a name="l00114"></a>00114 <span class="keyword">typename</span> <a class="code" href="classstd_1_1deque.html">CParticleList</a><a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">::iterator</a> it;
<a name="l00115"></a>00115 <span class="keywordflow">for</span> (it=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.begin();it!=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.end();it++)
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 in >> it->log_w;
<a name="l00118"></a>00118 it->d = <span class="keyword">new</span> T();
<a name="l00119"></a>00119 in >> *it->d;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Returns a vector with the sequence of the logaritmic weights of all the samples.</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a1197013292ffd4af22c539cac3304263">00127</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a1197013292ffd4af22c539cac3304263" title="Returns a vector with the sequence of the logaritmic weights of all the samples.">getWeights</a>( <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &out_logWeights )<span class="keyword"> const</span>
<a name="l00128"></a>00128 <span class="keyword"> </span>{
<a name="l00129"></a>00129 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00130"></a>00130 out_logWeights.<a class="code" href="structmrpt_1_1dynamicsize__vector.html#a8fd6a8b950613c9abbf6366bcc9d4e4c" title="Overloaded resize method that mimics std::vector::resize(SIZE,DEFAULT_VALUE) instead of resize(nrows...">resize</a>(<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.size());
<a name="l00131"></a>00131 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a><a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">::iterator</a> it;
<a name="l00132"></a>00132 <span class="keyword">typename</span> <a class="code" href="classstd_1_1deque.html">CParticleList</a><a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::const_iterator</a> it2;
<a name="l00133"></a>00133 <span class="keywordflow">for</span> (it=out_logWeights.begin(),it2=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.begin();it2!=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.end();it++,it2++)
<a name="l00134"></a>00134 *it = it2->log_w;
<a name="l00135"></a>00135 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** Returns the particle with the highest weight.</span>
<a name="l00139"></a>00139 <span class="comment"> */</span>
<a name="l00140"></a><a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a814fc6f819c7e213c036467c14fbba66">00140</a> <span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html" title="A template class for holding a the data and the weight of a particle.">CParticleData</a> * <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a814fc6f819c7e213c036467c14fbba66" title="Returns the particle with the highest weight.">getMostLikelyParticle</a>()<span class="keyword"> const</span>
<a name="l00141"></a>00141 <span class="keyword"> </span>{
<a name="l00142"></a>00142 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00143"></a>00143 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_probability_particle.html" title="A template class for holding a the data and the weight of a particle.">CParticleData</a> *ret = NULL;
<a name="l00144"></a>00144 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.size()>0)
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">CParticleList::const_iterator</a> it;
<a name="l00147"></a>00147 <span class="keywordflow">for</span> (it=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.begin();it!=<a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000" title="The array of particles.">m_particles</a>.end();it++)
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 <span class="keywordflow">if</span> (ret==NULL || it->log_w > ret->log_w)
<a name="l00150"></a>00150 ret = &(*it);
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 <span class="keywordflow">return</span> ret;
<a name="l00153"></a>00153 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155
<a name="l00156"></a>00156
<a name="l00157"></a>00157 }; <span class="comment">// End of class def.</span>
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /** This must be placed within the declaration of classes inheriting from both CParticleFilterData and CParticleFilterCapable to implement some pure virtual methods (the param T must be equal to the argument of the template CParticleFilterData).</span>
<a name="l00160"></a>00160 <span class="comment"> * The following pure virtual methods are implemented:</span>
<a name="l00161"></a>00161 <span class="comment"> * - CParticleFilterCapable::getW</span>
<a name="l00162"></a>00162 <span class="comment"> * - CParticleFilterCapable::setW</span>
<a name="l00163"></a>00163 <span class="comment"> * - CParticleFilterCapable::particlesCount</span>
<a name="l00164"></a>00164 <span class="comment"> * - CParticleFilterCapable::normalizeWeights</span>
<a name="l00165"></a>00165 <span class="comment"> * - CParticleFilterCapable::ESS</span>
<a name="l00166"></a>00166 <span class="comment"> * - CParticleFilterCapable::performSubstitution</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a><a class="code" href="_c_particle_filter_data_8h.html#a1dab657a0f7d1fe1f4821dbbc2b4ea60">00168</a> <span class="preprocessor">#define IMPLEMENT_PARTICLE_FILTER_CAPABLE(T) \</span>
<a name="l00169"></a>00169 <span class="preprocessor"> public: \</span>
<a name="l00170"></a>00170 <span class="preprocessor"> virtual double getW(size_t i) const \</span>
<a name="l00171"></a>00171 <span class="preprocessor"> { \</span>
<a name="l00172"></a>00172 <span class="preprocessor"> MRPT_START \</span>
<a name="l00173"></a>00173 <span class="preprocessor"> if (i>=m_particles.size()) THROW_EXCEPTION_CUSTOM_MSG1("Index %i is out of range!",(int)i); \</span>
<a name="l00174"></a>00174 <span class="preprocessor"> return m_particles[i].log_w; \</span>
<a name="l00175"></a>00175 <span class="preprocessor"> MRPT_END \</span>
<a name="l00176"></a>00176 <span class="preprocessor"> } \</span>
<a name="l00177"></a>00177 <span class="preprocessor"> virtual void setW(size_t i, double w) \</span>
<a name="l00178"></a>00178 <span class="preprocessor"> { \</span>
<a name="l00179"></a>00179 <span class="preprocessor"> MRPT_START \</span>
<a name="l00180"></a>00180 <span class="preprocessor"> if (i>=m_particles.size()) THROW_EXCEPTION_CUSTOM_MSG1("Index %i is out of range!",(int)i); \</span>
<a name="l00181"></a>00181 <span class="preprocessor"> m_particles[i].log_w = w; \</span>
<a name="l00182"></a>00182 <span class="preprocessor"> MRPT_END \</span>
<a name="l00183"></a>00183 <span class="preprocessor"> } \</span>
<a name="l00184"></a>00184 <span class="preprocessor"> virtual size_t particlesCount() const { return m_particles.size(); } \</span>
<a name="l00185"></a>00185 <span class="preprocessor"> virtual double normalizeWeights( double *out_max_log_w = NULL ) \</span>
<a name="l00186"></a>00186 <span class="preprocessor"> { \</span>
<a name="l00187"></a>00187 <span class="preprocessor"> MRPT_START \</span>
<a name="l00188"></a>00188 <span class="preprocessor"> CParticleList::iterator it;\</span>
<a name="l00189"></a>00189 <span class="preprocessor"> \</span>
<a name="l00190"></a>00190 <span class="preprocessor"> if (!m_particles.size()) return 0; \</span>
<a name="l00191"></a>00191 <span class="preprocessor"> double minW,maxW; \</span>
<a name="l00192"></a>00192 <span class="preprocessor"> minW = maxW = m_particles[0].log_w; \</span>
<a name="l00193"></a>00193 <span class="preprocessor"> </span><span class="comment">/* Compute the max/min of weights: */</span> \
<a name="l00194"></a>00194 for (it=m_particles.begin();it!=m_particles.end();it++) \
<a name="l00195"></a>00195 { \
<a name="l00196"></a>00196 maxW = std::max<double>( maxW, it->log_w ); \
<a name="l00197"></a>00197 minW = std::min<double>( minW, it->log_w ); \
<a name="l00198"></a>00198 } \
<a name="l00199"></a>00199 <span class="comment">/* Normalize: */</span> \
<a name="l00200"></a>00200 for (it=m_particles.begin();it!=m_particles.end();it++) \
<a name="l00201"></a>00201 it->log_w -= maxW; \
<a name="l00202"></a>00202 if (out_max_log_w) \
<a name="l00203"></a>00203 *out_max_log_w = maxW; \
<a name="l00204"></a>00204 <span class="comment">/* Return the max/min ratio: */</span> \
<a name="l00205"></a>00205 return exp(maxW-minW); \
<a name="l00206"></a>00206 MRPT_END \
<a name="l00207"></a>00207 } \
<a name="l00208"></a>00208 virtual double ESS() \
<a name="l00209"></a>00209 { \
<a name="l00210"></a>00210 MRPT_START \
<a name="l00211"></a>00211 CParticleList::iterator it; \
<a name="l00212"></a>00212 double cum = 0; \
<a name="l00213"></a>00213 \
<a name="l00214"></a>00214 <span class="comment">/* Sum of weights: */</span> \
<a name="l00215"></a>00215 double sumLinearWeights = 0; \
<a name="l00216"></a>00216 for (it=m_particles.begin();it!=m_particles.end();it++) \
<a name="l00217"></a>00217 sumLinearWeights += exp( it->log_w ); \
<a name="l00218"></a>00218 <span class="comment">/* Compute ESS: */</span> \
<a name="l00219"></a>00219 for (it=m_particles.begin();it!=m_particles.end();it++) \
<a name="l00220"></a>00220 cum+= utils::square( exp( it->log_w ) / sumLinearWeights ); \
<a name="l00221"></a>00221 \
<a name="l00222"></a>00222 if (cum==0) \
<a name="l00223"></a>00223 return 0; \
<a name="l00224"></a>00224 else return 1.0/(m_particles.size()*cum); \
<a name="l00225"></a>00225 MRPT_END \
<a name="l00226"></a>00226 } \
<a name="l00227"></a>00227 <span class="comment"> /** Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change.*/</span> \
<a name="l00228"></a>00228 virtual void performSubstitution( const std::vector<size_t> &indx) \
<a name="l00229"></a>00229 { \
<a name="l00230"></a>00230 MRPT_START \
<a name="l00231"></a>00231 CParticleList parts; \
<a name="l00232"></a>00232 CParticleList::iterator itDest,itSrc; \
<a name="l00233"></a>00233 size_t M_old = m_particles.size(); \
<a name="l00234"></a>00234 size_t i,j,lastIndxOld = 0; \
<a name="l00235"></a>00235 std::vector<bool> oldParticlesReused(M_old,false); \
<a name="l00236"></a>00236 std::vector<bool>::const_iterator oldPartIt; \
<a name="l00237"></a>00237 std::vector<size_t> sorted_indx(indx); \
<a name="l00238"></a>00238 std::vector<size_t>::iterator sort_idx_it; \
<a name="l00239"></a>00239 <span class="comment">/* Assure the input index is sorted: */</span> \
<a name="l00240"></a>00240 std::sort( sorted_indx.begin(), sorted_indx.end() ); \
<a name="l00241"></a>00241 <span class="comment">/* Set the new size: */</span> \
<a name="l00242"></a>00242 parts.resize( sorted_indx.size() ); \
<a name="l00243"></a>00243 for (i=0,itDest=parts.begin();itDest!=parts.end();i++,itDest++) \
<a name="l00244"></a>00244 { \
<a name="l00245"></a>00245 const size_t sorted_idx = sorted_indx[i]; \
<a name="l00246"></a>00246 itDest->log_w = m_particles[ sorted_idx ].log_w; \
<a name="l00247"></a>00247 <span class="comment">/* We can safely delete old m_particles from [lastIndxOld,indx[i]-1] (inclusive): */</span> \
<a name="l00248"></a>00248 for (j=lastIndxOld;j<sorted_idx;j++) \
<a name="l00249"></a>00249 { \
<a name="l00250"></a>00250 if (!oldParticlesReused[j]) <span class="comment">/* If reused we can not delete that memory! */</span> \
<a name="l00251"></a>00251 { \
<a name="l00252"></a>00252 delete m_particles[j].d; \
<a name="l00253"></a>00253 m_particles[j].d = NULL; \
<a name="l00254"></a>00254 } \
<a name="l00255"></a>00255 } \
<a name="l00256"></a>00256 <span class="comment">/* For the next iteration:*/</span> \
<a name="l00257"></a>00257 lastIndxOld = sorted_idx; \
<a name="l00258"></a>00258 <span class="comment">/* If this is the first time that the old particle "indx[i]" appears, */</span> \
<a name="l00259"></a>00259 <span class="comment">/* we can reuse the old "data" instead of creating a new copy: */</span> \
<a name="l00260"></a>00260 if (!oldParticlesReused[sorted_idx]) \
<a name="l00261"></a>00261 { \
<a name="l00262"></a>00262 <span class="comment">/* Reuse the data from the particle: */</span> \
<a name="l00263"></a>00263 parts[i].d = m_particles[ sorted_idx ].d; \
<a name="l00264"></a>00264 oldParticlesReused[sorted_idx]=true; \
<a name="l00265"></a>00265 } \
<a name="l00266"></a>00266 else \
<a name="l00267"></a>00267 { \
<a name="l00268"></a>00268 <span class="comment">/* Make a copy of the particle's data: */</span> \
<a name="l00269"></a>00269 ASSERT_( m_particles[ sorted_idx ].d != NULL); \
<a name="l00270"></a>00270 parts[i].d = new T( *m_particles[ sorted_idx ].d ); \
<a name="l00271"></a>00271 } \
<a name="l00272"></a>00272 } \
<a name="l00273"></a>00273 <span class="comment">/* Free memory of unused particles */</span> \
<a name="l00274"></a>00274 for (itSrc=m_particles.begin(),oldPartIt=oldParticlesReused.begin();itSrc!=m_particles.end();itSrc++,oldPartIt++) \
<a name="l00275"></a>00275 if (! *oldPartIt ) \
<a name="l00276"></a>00276 { \
<a name="l00277"></a>00277 delete itSrc->d; \
<a name="l00278"></a>00278 itSrc->d = NULL; \
<a name="l00279"></a>00279 } \
<a name="l00280"></a>00280 <span class="comment">/* Copy the pointers only to the final destination */</span> \
<a name="l00281"></a>00281 m_particles.resize( parts.size() ); \
<a name="l00282"></a>00282 for (itSrc=parts.begin(),itDest=m_particles.begin(); itSrc!=parts.end(); itSrc++, itDest++ ) \
<a name="l00283"></a>00283 { \
<a name="l00284"></a>00284 itDest->log_w = itSrc->log_w; \
<a name="l00285"></a>00285 itDest->d = itSrc->d; \
<a name="l00286"></a>00286 itSrc->d = NULL; \
<a name="l00287"></a>00287 } \
<a name="l00288"></a>00288 parts.clear(); \
<a name="l00289"></a>00289 MRPT_END \
<a name="l00290"></a>00290 } \
<a name="l00291"></a>00291
<a name="l00292"></a>00292 } <span class="comment">// end namespace</span>
<a name="l00293"></a>00293 } <span class="comment">// end namespace</span>
<a name="l00294"></a>00294 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
