Emrys::ReusableFilterUpdate< Space, MeasurementSpace, Scalar, Allocator > Struct Template Reference

A FilterUpdate of a run-time number of branches that keeps the MeasurementUpdate it was last filled from, posteriors included, as the scratch of its next fill. More...

#include <EmrysFilter/Models/MeasurementUpdate.h>

Inheritance diagram for Emrys::ReusableFilterUpdate< Space, MeasurementSpace, Scalar, Allocator >:

Public Types
using	Base = FilterUpdate<MeasurementSpace, std::dynamic_extent, Scalar, Allocator>
	the update it is
using	MeasuredType = MeasurementUpdate<Space, MeasurementSpace, std::dynamic_extent, Scalar, Allocator>
	The measurement's branches it keeps.
Public Types inherited from Emrys::FilterUpdate< MeasurementSpace, std::dynamic_extent, double, DefaultAllocator >
using	Scalar
	the scalar type
using	MeasurementSpaceType
	the measurement space
using	BranchType
	one branch
using	allocator_type
	where a run-time number of branches comes from
using	Container
	The branches' container: an array when their number is known at compile time, and otherwise a buffer from Allocator.

Public Member Functions
	ReusableFilterUpdate ()=default
	empty, from a default-constructed allocator
	ReusableFilterUpdate (Allocator const &allocator)
	Empty, with its branches and scratch from allocator.
	ReusableFilterUpdate (ReusableFilterUpdate const &)=default
	copies, keeping the source's allocator
	ReusableFilterUpdate (ReusableFilterUpdate &&) noexcept=default
	takes other's storage
	ReusableFilterUpdate (ReusableFilterUpdate const &other, Allocator const &allocator)
	Copies other into storage from allocator (see Allocation).
	ReusableFilterUpdate (ReusableFilterUpdate &&other, Allocator const &allocator)
	Moves other into storage from allocator, taking its storage when the allocators are equal.
ReusableFilterUpdate &	operator= (ReusableFilterUpdate const &)=default
	copies, keeping this allocator
ReusableFilterUpdate &	operator= (ReusableFilterUpdate &&) noexcept=default
	takes other's storage
Public Member Functions inherited from Emrys::FilterUpdate< MeasurementSpace, std::dynamic_extent, double, DefaultAllocator >
	FilterUpdate ()=default
	no branches, not accepted
Scalar	logLikelihood () const
Eigen::Index	innovationSize () const
DefaultAllocator	get_allocator () const

Public Attributes
MeasuredType	measured
	the branches of the last fill, posteriors included, reused by the next
Public Attributes inherited from Emrys::FilterUpdate< MeasurementSpace, std::dynamic_extent, double, DefaultAllocator >
Container	branches
	one per noise component, weights summing to one
bool	accepted
	whether the policy accepted the measurement

Additional Inherited Members
Static Public Attributes inherited from Emrys::FilterUpdate< MeasurementSpace, std::dynamic_extent, double, DefaultAllocator >
static constexpr std::size_t	BranchCount
	the number of branches, or std::dynamic_extent

Detailed Description

template<typename Space, typename MeasurementSpace, typename Scalar = double, typename Allocator = DefaultAllocator>
struct Emrys::ReusableFilterUpdate< Space, MeasurementSpace, Scalar, Allocator >

A FilterUpdate of a run-time number of branches that keeps the MeasurementUpdate it was last filled from, posteriors included, as the scratch of its next fill.

A filter's update under mixture noise conditions the prior once per noise component, reduces the posteriors with its policy, and returns the branches without them (decisions.md [innovation-statistics]). The branches with their posteriors are sized by the number of components, so a filter that refills one of these, such as KalmanRecursion::update() into a result, allocates nothing once the result has held as many (see Allocation). The scratch is measured, whose posteriors are what the policy left: the one it kept is moved from.

Template Parameters

Space	the state's space
MeasurementSpace	the measurement space
Scalar	the scalar type
Allocator	where the branches come from

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The documentation for this struct was generated from the following file:

• EmrysFilter/Models/MeasurementUpdate.h