[WIP] Rao-Blackwellized Particle Filter #73
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zsunberg
requested changes
Nov 14, 2024
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| struct RaoBlackwellizedParticleFilter <: Updater | ||
| particle_filter::BasicParticleFilter | ||
| analytical_filter::AbstractFilter # https://github.com/sisl/GaussianFilters.jl/blob/master/src/kf_classes.jl#L7 | ||
| end |
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Suggested change
| struct RaoBlackwellizedParticleFilter <: Updater | |
| particle_filter::BasicParticleFilter | |
| analytical_filter::AbstractFilter # https://github.com/sisl/GaussianFilters.jl/blob/master/src/kf_classes.jl#L7 | |
| end | |
| struct RaoBlackwellizedParticleFilter{PF, AF} <: Updater | |
| particle_filter::PF | |
| analytical_filter::AF | |
| end |
abstract field types can negatively effect performance. We should have a docstring explaining what is expected of particle_filter and analytical_filter.
| analytical_filter::AbstractFilter # https://github.com/sisl/GaussianFilters.jl/blob/master/src/kf_classes.jl#L7 | ||
| end | ||
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| mutable struct RaoBlackwellizedParticleCollection{P, T<:AbstractVector{<:Number}, S<:Symmetric{<:Number}, SP, AP, R} <: RaoBlackwellizedParticleBelief |
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I don't think this needs to be mutable
| normalized_weights = weights ./ sum(weights) | ||
| analytical_means = [belief.μ for belief in b.analytical_beliefs] | ||
| weighted_analytical_mean = sum(normalized_weights .* analytical_means) | ||
| return (particles_mean, weighted_analytical_mean) |
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these should be concatenated (vcat)
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Pull request to open-source RBPF that uses GaussianFilters.jl (https://github.com/sisl/GaussianFilters.jl)