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Minor modifications in the inputs of the function.

remove-submodule^2
Frédéric Karamé 2015-10-07 15:25:16 +02:00
parent 35624147df
commit 1032fb297a
2 changed files with 1 additions and 5 deletions
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3
nonlinear-filters/src/gaussian_densities.m
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@ -43,9 +43,6 @@ prior = probability2(st_t_1,sqr_Pss_t_t_1,particles) ;
% likelihood
yt_t_1_i = measurement_equations(particles,ReducedForm,ThreadsOptions) ;
eta_t_i = bsxfun(@minus,obs,yt_t_1_i)' ;
%yt_t_1 = sum(yt_t_1_i*weigths1,2) ;
%tmp = bsxfun(@minus,yt_t_1_i,yt_t_1) ;
%Pyy = bsxfun(@times,weigths2',tmp)*tmp' + H ;
Pyy = H ;
sqr_det = sqrt(det(Pyy)) ;
foo = (eta_t_i/Pyy).*eta_t_i ;

3
nonlinear-filters/src/probability2.m
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@ -34,5 +34,4 @@ function [density] = probability2(mu,S,X)
dim = size(X,1) ;
normfact = bsxfun(@power,(2*pi),(dim/2)) ;
foo = S\(bsxfun(@minus,X,mu)) ;
density = exp(-0.5*sum(foo.*foo)')./abs((normfact*prod(diag(S)))) + 1e-99 ;
density = exp(-0.5*sum(foo.*foo)')./abs((normfact*prod(diag(S)))) + 1e-99 ;