|
EmrysFilter 0.1.0
State estimation utilities in C++23 using Eigen
|
Reduction policy that keeps the most probable branch: hard rejection by comparing the noise components with each other. More...
#include <EmrysFilter/Models/Reduction.h>
Public Member Functions | |
| template<typename Branches> requires internal::BranchRange<Branches> | |
| std::optional< internal::PosteriorOf< Branches > > | operator() (Branches &&branches) const |
Reduction policy that keeps the most probable branch: hard rejection by comparing the noise components with each other.
Ties go to the earliest branch. The branch kept stands for every branch it was given (see ReductionPolicy), so a filter weights it by their whole likelihood, as it weights Collapse's: it approximates the posterior's shape by its most probable branch and leaves how probable the component is unchanged.
|
inlinenodiscard |