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final version
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@giuliavezzani
giuliavezzani committed Oct 28, 2016
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229 changes: 1 addition & 228 deletions outputs/outputMUPF0.off
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10 changes: 9 additions & 1 deletion src/unscentedParticleFilter-rec.cpp
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Expand Up @@ -543,7 +543,15 @@ void UnscentedParticleFilter::resampling()
i++;
}

new_x[j]=x[i];
Vector tmp(6,0.0);

tmp[0] = Rand::scalar(x[i].x_corr[0] - x[i].P_corr(0,0), +x[i].x_corr[0] + x[i].P_corr(0,0));
tmp[1] = Rand::scalar(x[i].x_corr[1] - x[i].P_corr(1,1), +x[i].x_corr[1] + x[i].P_corr(1,1));
tmp[2] = Rand::scalar(x[i].x_corr[2] - x[i].P_corr(2,2), +x[i].x_corr[2] + x[i].P_corr(2,2));
tmp[3] = Rand::scalar(x[i].x_corr[3] - x[i].P_corr(3,3), +x[i].x_corr[3] + x[i].P_corr(3,3));
tmp[4] = Rand::scalar(x[i].x_corr[4] - x[i].P_corr(4,4), +x[i].x_corr[4] + x[i].P_corr(4,4));
tmp[5] = Rand::scalar(x[i].x_corr[5] - x[i].P_corr(5,5), +x[i].x_corr[5] + x[i].P_corr(5,5));
new_x[j].x_corr=tmp;
new_x[j].weights=1.0/params.N;
}

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14 changes: 7 additions & 7 deletions src/unscentedParticleFilter.cpp
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Expand Up @@ -597,13 +597,13 @@ void UnscentedParticleFilter::resampling()
//new_x[j]=x[i];
Vector tmp(6,0.0);

tmp[0] = Rand::scalar(x[i].x_corr[0] - x.P_corr(0,0), +x[i].x_corr[0] + x.P_corr(0,0);
tmp[1] = Rand::scalar(x[i].x_corr[1] - x.P_corr(1,1), +x[i].x_corr[1] + x.P_corr(1,1);
tmp[2] = Rand::scalar(x[i].x_corr[2] - x.P_corr(2,2), +x[i].x_corr[2] + x.P_corr(2,2);
tmp[3] = Rand::scalar(x[i].x_corr[3] - x.P_corr(3,3), +x[i].x_corr[3] + x.P_corr(3,3);
tmp[4] = Rand::scalar(x[i].x_corr[4] - x.P_corr(4,4), +x[i].x_corr[4] + x.P_corr(4,4);
tmp[5] = Rand::scalar(x[i].x_corr[5] - x.P_corr(5,5), +x[i].x_corr[5] + x.P_corr(5,5);
new_x[j]=tmp;
tmp[0] = Rand::scalar(x[i].x_corr[0] - x[i].P_corr(0,0), +x[i].x_corr[0] + x[i].P_corr(0,0));
tmp[1] = Rand::scalar(x[i].x_corr[1] - x[i].P_corr(1,1), +x[i].x_corr[1] + x[i].P_corr(1,1));
tmp[2] = Rand::scalar(x[i].x_corr[2] - x[i].P_corr(2,2), +x[i].x_corr[2] + x[i].P_corr(2,2));
tmp[3] = Rand::scalar(x[i].x_corr[3] - x[i].P_corr(3,3), +x[i].x_corr[3] + x[i].P_corr(3,3));
tmp[4] = Rand::scalar(x[i].x_corr[4] - x[i].P_corr(4,4), +x[i].x_corr[4] + x[i].P_corr(4,4));
tmp[5] = Rand::scalar(x[i].x_corr[5] - x[i].P_corr(5,5), +x[i].x_corr[5] + x[i].P_corr(5,5));
new_x[j].x_corr=tmp;
new_x[j].weights=1.0/params.N;
}

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