From b2171f53c6c597ac4326f63250269aa13df84718 Mon Sep 17 00:00:00 2001
From: Guest_account Guest_account prguest11 <prguest11@taipan.cs>
Date: Fri, 21 Oct 2011 15:24:32 +0100
Subject: more particle filter stuff

---
 gi/pf/pf.h | 84 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 84 insertions(+)
 create mode 100644 gi/pf/pf.h

(limited to 'gi/pf/pf.h')

diff --git a/gi/pf/pf.h b/gi/pf/pf.h
new file mode 100644
index 00000000..ede7cda8
--- /dev/null
+++ b/gi/pf/pf.h
@@ -0,0 +1,84 @@
+#ifndef _PF_H_
+#define _PF_H_
+
+#include <cassert>
+#include <vector>
+#include "sampler.h"
+#include "prob.h"
+
+template <typename ParticleType>
+struct ParticleRenormalizer {
+  void operator()(std::vector<ParticleType>* pv) const {
+    if (pv->empty()) return;
+    prob_t z = prob_t::Zero();
+    for (unsigned i = 0; i < pv->size(); ++i)
+      z += (*pv)[i].weight;
+    assert(z > prob_t::Zero());
+    for (unsigned i = 0; i < pv->size(); ++i)
+      (*pv)[i].weight /= z;
+  }
+};
+
+template <typename ParticleType>
+struct MultinomialResampleFilter {
+  explicit MultinomialResampleFilter(MT19937* rng) : rng_(rng) {}
+
+  void operator()(std::vector<ParticleType>* pv) {
+    if (pv->empty()) return;
+    std::vector<ParticleType>& ps = *pv;
+    SampleSet<prob_t> ss;
+    for (int i = 0; i < ps.size(); ++i)
+      ss.add(ps[i].weight);
+    std::vector<ParticleType> nps; nps.reserve(ps.size());
+    const prob_t uniform_weight(1.0 / ps.size());
+    for (int i = 0; i < ps.size(); ++i) {
+      nps.push_back(ps[rng_->SelectSample(ss)]);
+      nps[i].weight = uniform_weight;
+    }
+    nps.swap(ps);
+  }
+
+ private:
+  MT19937* rng_;
+};
+
+template <typename ParticleType>
+struct SystematicResampleFilter {
+  explicit SystematicResampleFilter(MT19937* rng) : rng_(rng), renorm_() {}
+
+  void operator()(std::vector<ParticleType>* pv) {
+    if (pv->empty()) return;
+    renorm_(pv);
+    std::vector<ParticleType>& ps = *pv;
+    std::vector<ParticleType> nps; nps.reserve(ps.size());
+    double lower = 0, upper = 0;
+    const double skip = 1.0 / ps.size();
+    double u_j = rng_->next() * skip;
+    //std::cerr << "u_0: " << u_j << std::endl;
+    int j = 0;
+    for (unsigned i = 0; i < ps.size(); ++i) {
+      upper += ps[i].weight.as_float();
+      //std::cerr << "lower: " << lower << " upper: " << upper << std::endl;
+      // how many children does ps[i] have?
+      while (u_j < lower) { u_j += skip; ++j; }
+      while (u_j >= lower && u_j <= upper) {
+        assert(j < ps.size());
+        nps.push_back(ps[i]);
+        u_j += skip;
+        //std::cerr << " add u_j=" << u_j << std::endl;
+        ++j;
+      }
+      lower = upper;
+    }
+    //std::cerr << ps.size() << " " << nps.size() << "\n";
+    assert(ps.size() == nps.size());
+    //exit(1);
+    ps.swap(nps);
+  }
+
+ private:
+  MT19937* rng_;
+  ParticleRenormalizer<ParticleType> renorm_;
+};
+
+#endif
-- 
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