PFParams.h

#ifndef MTF_PF_PARAMS_H
#define MTF_PF_PARAMS_H

#include "mtf/Macros/common.h"

_MTF_BEGIN_NAMESPACE

struct PFParams{
    // supported dynamic models for sample generation
    enum class DynamicModel{
        RandomWalk,
        AutoRegression1
    };
    enum class UpdateType{
        Additive,
        Compositional
    };
    enum class ResamplingType{
        None,
        BinaryMultinomial,
        LinearMultinomial,
        Residual
    };
    enum class LikelihoodFunc{
        AM,
        Gaussian,
        Reciprocal
    };
    enum class MeanType{
        None,
        SSM,
        Corners
    };
    static const char* toString(DynamicModel _dyn_model);
    static const char* toString(UpdateType _upd_type);
    static const char* toString(ResamplingType _resampling_type);
    static const char* toString(LikelihoodFunc _likelihood_func);
    static const char* toString(MeanType _likelihood_func);
    int max_iters;
    int n_particles;
    double epsilon;
    DynamicModel dynamic_model;
    UpdateType update_type;
    LikelihoodFunc likelihood_func;
    ResamplingType resampling_type;
    MeanType mean_type;
    bool reset_to_mean;
    vectorvd ssm_sigma;
    vectorvd ssm_mean;
    bool update_distr_wts;
    double min_distr_wt;
    double adaptive_resampling_thresh;
    vectord pix_sigma;
    double measurement_sigma;
    int show_particles;
    bool enable_learning;
    bool jacobian_as_sigma;
    bool debug_mode;
    PFParams(int _max_iters, int _n_particles, double _epsilon,
        DynamicModel _dyn_model, UpdateType _upd_type,
        LikelihoodFunc _likelihood_func,
        ResamplingType _resampling_type,
        MeanType _mean_type, bool _reset_to_mean,
        const vectorvd &_ssm_sigma, const vectorvd &_ssm_mean,
        bool _update_distr_wts, double _min_distr_wt,
        double _adaptive_resampling_thresh,
        const vectord &_pix_sigma, double _measurement_sigma,
        int _show_particles, bool _enable_learning,
        bool _jacobian_as_sigma, bool _debug_mode);
    PFParams(const PFParams *params = nullptr);
    bool processDistributions(vector<VectorXd> &state_sigma,
        vector<VectorXd> &state_mean, VectorXi &distr_n_samples,
        unsigned int &n_distr, unsigned int ssm_state_size);
};

_MTF_END_NAMESPACE

#endif