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ParticleFilter

particle-filter: 提交

Added manipulate functions for partcles

--- src/Makefile.in (revision 26)

+++ src/Makefile.in (revision 27)

		@@ -1,6 +1,6 @@
1	1	CC=@CC@
2	2	CXX=@CXX@
3		-SRCS=particle.cc particles.cc filter.cc edit.cc
	3	+SRCS=particle.cc particles.cc filter.cc
4	4	OBJS=$(SRCS:.cc=.o)
5	5	HEADS=$(SRCS:.cc=.h)
6	6	TARGETS=libparticle.a

--- src/particle.cc (revision 26)

+++ src/particle.cc (revision 27)

		@@ -1,3 +1,6 @@
	1	+/**
	2	+ this class repsesents one particle.
	3	+*/
1	4	#include <particle.h>
2	5
3	6

		@@ -12,6 +15,8 @@
12	15	template<class C> Particle<C>::~Particle()
13	16	{
14	17	}
	18	+
	19	+// Copy constructor
15	20	template<class C> Particle<C>::Particle(const Particle &f)
16	21	{
17	22	p = f.p;

		@@ -35,6 +40,19 @@
35	40	p = f;
36	41	return(*this);
37	42	}
	43	+template<class C> Particle<C> &Particle<C>::operator+=(Particle<C> a)
	44	+{
	45	+ for(int i=0;i<size();++i)
	46	+ {
	47	+ p[i] += a[i];
	48	+ }
	49	+ return(*this);
	50	+}
	51	+template<class C> Particle<C> Particle<C>::operator+(Particle<C> &a)
	52	+{
	53	+ Particle<C> c = *this;
	54	+ return(c+=a);
	55	+}
38	56	template<class C> C &Particle<C>::operator[](unsigned int i)
39	57	{
40	58	return(p[i]);

		@@ -53,7 +71,7 @@
53	71	{
54	72	return(dimension);
55	73	}
56		-template<class C> vector<C> Particle<C>::get_particle()
	74	+template<class C> vector<C> Particle<C>::toVector()
57	75	{
58	76	return(p);
59	77	}

--- src/filter.cc (revision 26)

+++ src/filter.cc (revision 27)

		@@ -44,6 +44,15 @@
44	44	v.resize(number, dimension);
45	45	return(true);
46	46	}
	47	+bool Filter::createInitialParticles(double d)
	48	+{
	49	+ if(number<0\|\|dimension<0) return(false);
	50	+// x = new Particles(number, dimension);
	51	+// v = new Particles(number, dimension);
	52	+ x.resize(number, dimension);
	53	+ v.resize(number, dimension);
	54	+ return(true);
	55	+}
47	56	bool Filter::create_system_noise()
48	57	{
49	58	for(int i=0;i<v.size();++i)

		@@ -51,7 +60,6 @@
51	60	for(int j=0;j<v[i].size();++j)
52	61	{
53	62	v[i][j] = mtrand.randNorm(0.0, 1.2); // ToDO: functionize
54		-//cout<<"noise="<<v[i][j]<<endl;
55	63	}
56	64	}
57	65	return(true);

		@@ -66,13 +74,13 @@
66	74	v.dump_particles();
67	75	return(0);
68	76	}
69		-string Filter::predict_particles_toString()
	77	+Particles<double> Filter::get_predict_particles()
70	78	{
71		- return(x.toString());
	79	+ return(x);
72	80	}
73		-string Filter::system_noise_toString()
	81	+Particles<double> Filter::get_system_noise()
74	82	{
75		- return(v.toString());
	83	+ return(v);
76	84	}
77	85	bool Filter::set_state_func(Particles<double> (*func)(Particles<double> &p, Particles<double> &v))
78	86	{

--- src/particle.h (revision 26)

+++ src/particle.h (revision 27)

		@@ -19,10 +19,12 @@
19	19	Particle& operator=(const Particle &f);
20	20	int resize(int n);
21	21	int size();
22		- vector<C> get_particle();
	22	+ vector<C> toVector();
23	23	string toString();
24	24	int dump();
25	25	Particle& operator=(vector<C> &f);
	26	+ Particle<C> &operator+=(Particle<C> a);
	27	+ Particle<C> operator+(Particle<C> &a);
26	28	C &operator[](unsigned int i);
27	29	C operator[](unsigned int i) const;
28	30	};

--- src/particles.cc (revision 26)

+++ src/particles.cc (revision 27)

		@@ -12,6 +12,44 @@
12	12	{
13	13	resize(number, dimension);
14	14	}
	15	+// Copy constructor
	16	+template<class C> Particles<C>::Particles(const Particles &f)
	17	+{
	18	+ number = f.number;
	19	+ p.resize(number);
	20	+ for(unsigned int i=0;i<p.size();++i)
	21	+ {
	22	+ p[i] = f[i];
	23	+ }
	24	+}
	25	+// Copy substitution
	26	+template<class C> Particles<C>& Particles<C>::operator=(const Particles &f)
	27	+{
	28	+ if(this != &f)
	29	+ {
	30	+ number = f.number;
	31	+ p.resize(number);
	32	+ for(unsigned int i=0;i<p.size();++i)
	33	+ {
	34	+ p[i] = f[i];
	35	+ }
	36	+ }
	37	+ return(*this);
	38	+}
	39	+template<class C> Particles<C> &Particles<C>::operator+=(Particles<C> a)
	40	+{
	41	+ for(int i=0;i<size();++i)
	42	+ {
	43	+ p[i] += a[i];
	44	+ }
	45	+ return(*this);
	46	+}
	47	+template<class C> Particles<C> Particles<C>::operator+(Particles<C> &a)
	48	+{
	49	+ Particles<C> c = *this;
	50	+ return(c+=a);
	51	+}
	52	+
15	53	template<class C> Particles<C>::~Particles()
16	54	{
17	55	}

		@@ -41,7 +79,7 @@
41	79	{
42	80	return(p.at(i));
43	81	}
44		-template<class C> vector<Particle<C> > Particles<C>::get_particles()
	82	+template<class C> vector<Particle<C> > Particles<C>::toVector()
45	83	{
46	84	return(p);
47	85	}

--- src/filter.h (revision 26)

+++ src/filter.h (revision 27)

		@@ -29,10 +29,11 @@
29	29	bool setDimension(int d);
30	30	bool createInitialParticles();
31	31	bool create_system_noise();
	32	+ bool createInitialParticles(double d);
32	33	int dump_predict_particles();
33	34	Particles<double> get_particles();
34		- string predict_particles_toString();
35		- string system_noise_toString();
	35	+ Particles<double> get_predict_particles();
	36	+ Particles<double> get_system_noise();
36	37	bool set_state_func(Particles<double> (*func)(Particles<double> &p, Particles<double> &v));
37	38	bool set_robserve_func(double (*func)(Particles<double> &p, Particle<double> &q));
38	39	bool set_robserve_jacobian_func(double (*func)(Particles<double> &p, Particle<double> &q));

--- src/particles.h (revision 26)

+++ src/particles.h (revision 27)

		@@ -13,12 +13,16 @@
13	13	Particles();
14	14	Particles(int number);
15	15	Particles(int number, int dimension);
	16	+ Particles(const Particles &f);
	17	+ Particles<C>&operator=(const Particles &f);
	18	+ Particles<C> &operator+=(Particles<C> a);
	19	+ Particles<C> operator+(Particles<C> &a);
16	20	~Particles();
17	21	bool resize(int number, int dimension);
18	22	int size();
19	23	Particle<C> &operator[](unsigned int i);
20	24	Particle<C> operator[](unsigned int i) const;
21		- vector<Particle<C> > get_particles();
	25	+ vector<Particle<C> > toVector();
22	26	int dump_particles();
23	27	string toString();
24	28	};

--- src/Makefile (revision 26)

+++ src/Makefile (revision 27)

		@@ -1,6 +1,6 @@
1	1	CC=gcc
2	2	CXX=g++
3		-SRCS=particle.cc particles.cc filter.cc edit.cc
	3	+SRCS=particle.cc particles.cc filter.cc
4	4	OBJS=$(SRCS:.cc=.o)
5	5	HEADS=$(SRCS:.cc=.h)
6	6	TARGETS=libparticle.a