IVT
ParticleFilterFrameworkFloat.h
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36 // Filename: ParticleFilterFrameworkFloat.h
37 // Author: Pedram Azad
38 // Date: 07.05.2009
39 // ****************************************************************************
40 
41 
42 #ifndef __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__
43 #define __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__
44 
45 
46 
47 // ****************************************************************************
48 // CParticleFilterFrameworkFloat
49 // ****************************************************************************
50 
56 {
57 public:
58  // constructor
59  CParticleFilterFrameworkFloat(int nParticles, int nDimension);
60 
61  // destructor
63 
64 
65  // public methods
66  double ParticleFilter(float *pResultMeanConfiguration, float fSigmaFactor = 1.0f);
67  double CalculateProbabilityForConfiguration(const float *pConfiguration);
68  virtual void GetConfiguration(float *pBestConfiguration, float fMeanFactor);
69  virtual void GetBestConfiguration(float *pBestConfiguration);
70  virtual void GetMeanConfiguration(float *pMeanConfiguration);
71  virtual void GetPredictedConfiguration(float *pPredictedConfiguration);
72 
73 
74 protected:
75  // protected methods
76  int PickBaseSample();
77  void CalculateMean();
78 
79  // virtual methods (framework methods to be implemented: design pattern "framwork" with "template methods")
80  virtual void UpdateModel(int nParticle) = 0;
81  virtual void PredictNewBases(float fSigmaFactor) = 0;
82  virtual double CalculateProbability(bool bSeparateCall = true) = 0;
83  virtual void CalculateFinalProbabilities() { }
84 
85 
86  // protected attributes
89 
90  float *sigma;
91  float *lower_limit;
92  float *upper_limit;
93 
94  // particle related attributes
97  double c_total;
98  float **s;
99  float **s_temp;
100  double *c;
101  double *pi;
102  float *temp;
103 };
104 
105 
106 
107 #endif /* __PARTICLE_FILTER_FRAMEWORK_FLOAT_H__ */
virtual void GetPredictedConfiguration(float *pPredictedConfiguration)
virtual void GetBestConfiguration(float *pBestConfiguration)
virtual double CalculateProbability(bool bSeparateCall=true)=0
CParticleFilterFrameworkFloat(int nParticles, int nDimension)
virtual void PredictNewBases(float fSigmaFactor)=0
virtual void GetConfiguration(float *pBestConfiguration, float fMeanFactor)
virtual void UpdateModel(int nParticle)=0
double ParticleFilter(float *pResultMeanConfiguration, float fSigmaFactor=1.0f)
virtual void GetMeanConfiguration(float *pMeanConfiguration)
double CalculateProbabilityForConfiguration(const float *pConfiguration)
Framework for the implementation of particle filters using the data type float.