public void iterate(IMap <IRandomVariable, object> possibleWorld, double probability)
{
// <b>P</b>(X<sub>t+1</sub> | x<sub>t</sub>)*
// P(x<sub>t</sub> | e<sub>1:t</sub>)
foreach (var av in possibleWorld)
{
xtVarAssignMap.Get(av.GetKey()).setValue(av.GetValue());
}
int i = 0;
foreach (double tp in transitionModel.posteriorDistribution(xtp1, xt).getValues())
{
s1.setValue(i, s1.getValues()[i] + (tp * probability));
++i;
}
}
public void iterate(IMap <IRandomVariable, object> possibleWorld, double probability)
{
// Assign current values for x<sub>k+1</sub>
foreach (var av in possibleWorld)
{
x_kp1VarAssignMap.Get(av.GetKey()).setValue(av.GetValue());
}
// P(e<sub>k+1</sub> | x<sub>k+1</sub>)
// P(e<sub>k+2:t</sub> | x<sub>k+1</sub>)
double p = sensorModel.posterior(pe_kp1, x_kp1) * probability;
// <b>P</b>(x<sub>k+1</sub> | X<sub>k</sub>)
int i = 0;
foreach (double tp in transitionModel.posteriorDistribution(x_kp1, xk).getValues())
{
b_kp1t.setValue(i, b_kp1t.getValues()[i] + (tp * p));
++i;
}
}