public void quickFilter(string actionList, string observationList)
{
Console.WriteLine("QF: {0} , {1}", actionList, observationList);
string [] actArry = actionList.Split('|');
string [] obsArry = observationList.Split('|');
inputAct = new PFAction();
inputObservation = new Observation();
foreach (string a in actArry)
{
inputAct.actParms.Add(a, 1.0);
}
foreach (string o in obsArry)
{
inputObservation.observable.Add(o, 1.0);
}
updateModel(inputObservation);
if (traceStack < traceDepth - 1)
{
traceStack++;
}
else
{
for (int i = 0; i < traceDepth; i++)
{
traceSet[i] = traceSet[i + 1];
}
}
defMeanParticle();
traceSet[traceStack] = new Particle(meanParticle);
}
public Particle transformParticle(PFAction act, Particle p)
{
//Particle nextParticle = new Particle(p);
Particle nextParticle = new Particle();
//nextParticle.variables = p.variables;
nextParticle.prob = p.prob;
double maxProb = minimumP;
string[] statekeys = p.variables.Keys.ToArray();
foreach (string state in statekeys)
{
double stateP = p.variables[state];
if (stateP < minimumP)
{
stateP = minimumP;
}
foreach (string actv in act.actParms.Keys)
{
double actP = act.actParms[actv];
string key = String.Format("{0}|{1}", state, actv);
if (state_act_tansition.ContainsKey(key))
{
Estimator myEstimate = state_act_tansition[key];
// fill in each facet
foreach (string facet in myEstimate.estimate.Keys)
{
double estP = (myEstimate.estimate[facet] * stateP * actP);
double noise = (estP * 0.01 * rgen.NextDouble()) - (estP * 0.005);
estP = Math.Abs(estP + noise);
//double estP = (myEstimate.estimate[facet] * stateP) ;
if ((!nextParticle.variables.ContainsKey(facet)) || (estP > nextParticle.variables[facet]))
{
nextParticle.variables[facet] = estP;
nextParticle.prob = estP;
}
if (estP > maxProb)
{
maxProb = estP;
}
// Then what ???
}
}
else
{
Console.WriteLine("Not found:'{0}'", key);
}
}
}
if (maxProb < minimumP)
{
maxProb = minimumP;
}
nextParticle.prob = maxProb; // go with the strongest frame facet for now
if (maxProb == 0)
{
Console.WriteLine("maxProb==0");
}
return(nextParticle);
}