densitytreeparticleresampler.hpp

dysii是一款非常出色的滤波函数库

#ifndef INDII_ML_FILTER_DENSITYTREEPARTICLERESAMPLER_HPP
#define INDII_ML_FILTER_DENSITYTREEPARTICLERESAMPLER_HPP

#include "ParticleResampler.hpp"
#include "../aux/DensityTreeFactory.hpp"

namespace indii {
  namespace ml {
    namespace filter {
/**
 * Density tree particle resampler.
 *
 * @author Lawrence Murray <[e-mail]>
 * @version $Rev: 404 $
 * @date $Date: 2008-03-05 14:52:55 +0000 (Wed, 05 Mar 2008) $
 *
 * Constructs a density tree from a weighted sample set, then independently
 * samples from the tree to produce a new set.
 */
class DensityTreeParticleResampler : public ParticleResampler {
public:
  /**
   * Constructor.
   *
   * @param P Number of particles to resample from each distribution
   * supplied to resample().
   * @param factory Factory used to build density tree nodes. Use this to
   * set options such as the node splitting strategy and \f$\rho\f$
   * shrinkage parameter.
   */
  DensityTreeParticleResampler(const unsigned int P,
      const indii::ml::aux::DensityTreeFactory& factory);
  
  /**
   * Constructor.
   *
   * @param P Number of particles to resample from each distribution
   * supplied to resample().
   *
   * A default indii::ml::aux::DensityTreeFactory, based on @p P, will be
   * used to construct density tree nodes.
   */
  DensityTreeParticleResampler(const unsigned int P);
  
  /**
   * Destructor.
   */
  virtual ~DensityTreeParticleResampler();
  
  virtual indii::ml::aux::DiracMixturePdf resample(
      indii::ml::aux::DiracMixturePdf& p);

private:
  /**
   * Number of particles to resample from each distribution.
   */
  const unsigned int P;

  /**
   * Factory used to build nodes.
   */
  const indii::ml::aux::DensityTreeFactory& factory;

};

    }
  }
}

#endif