dynare/matlab/particle/auxiliary_particle_filter.m

function [LIK,lik] = auxiliary_particle_filter(ReducedForm,Y,start,DynareOptions)
% Evaluates the likelihood of a nonlinear model with a particle filter allowing eventually resampling.
%
% INPUTS
%    ReducedForm     [structure] Matlab's structure describing the reduced form model.
%                                       ReducedForm.measurement.H   [double]   (pp x pp) variance matrix of measurement errors.
%                                       ReducedForm.state.Q         [double]   (qq x qq) variance matrix of state errors.
%                                       ReducedForm.state.dr        [structure] output of resol.m.
%    Y                      [double]    pp*smpl matrix of (detrended) data, where pp is the maximum number of observed variables.
%    start                  [integer]   scalar, likelihood evaluation starts at 'start'.
%    mf                     [integer]   pp*1 vector of indices.
%    number_of_particles    [integer]   scalar.
%
% OUTPUTS
%    LIK        [double]    scalar, likelihood
%    lik        [double]    vector, density of observations in each period.
%
% REFERENCES
%
% NOTES
%   The vector "lik" is used to evaluate the jacobian of the likelihood.

% Copyright (C) 2011, 2012 Dynare Team
%
% This file is part of Dynare.
%
% Dynare is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% Dynare is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with Dynare.  If not, see <http://www.gnu.org/licenses/>.
persistent init_flag mf0 mf1 number_of_particles
persistent sample_size number_of_observed_variables number_of_structural_innovations

% Set default
if isempty(start)
    start = 1;
end

% Get steady state and mean.
steadystate = ReducedForm.steadystate;
constant = ReducedForm.constant;
state_variables_steady_state = ReducedForm.state_variables_steady_state;

% Set persistent variables.
if isempty(init_flag)
    mf0 = ReducedForm.mf0;
    mf1 = ReducedForm.mf1;
    sample_size = size(Y,2);
    number_of_observed_variables = length(mf1);
    number_of_structural_innovations = length(ReducedForm.Q);
    number_of_particles = DynareOptions.particle.number_of_particles;
    init_flag = 1;
end

% Set local state space model (first order approximation).
ghx  = ReducedForm.ghx;
ghu  = ReducedForm.ghu;
% Set local state space model (second order approximation).
ghxx = ReducedForm.ghxx;
ghuu = ReducedForm.ghuu;
ghxu = ReducedForm.ghxu;

% Get covariance matrices
Q = ReducedForm.Q;
H = ReducedForm.H;
if isempty(H)
    H = 0;
end

% Get initial condition for the state vector.
StateVectorMean = ReducedForm.StateVectorMean;
StateVectorVarianceSquareRoot = reduced_rank_cholesky(ReducedForm.StateVectorVariance)';
state_variance_rank = size(StateVectorVarianceSquareRoot,2);
Q_lower_triangular_cholesky = chol(Q)';

% Set seed for randn().
set_dynare_seed('default');

% Initialization of the likelihood.
const_lik = log(2*pi)*number_of_observed_variables;
lik  = NaN(sample_size,1);
LIK  = NaN;

% Initialization of the weights across particles.
weights = ones(1,number_of_particles);
StateVectors = bsxfun(@plus,StateVectorVarianceSquareRoot*randn(state_variance_rank,number_of_particles),StateVectorMean);
for t=1:sample_size
    yhat = bsxfun(@minus,StateVectors,state_variables_steady_state);
    tmp = local_state_space_iteration_2(yhat,zeros(number_of_structural_innovations,number_of_particles),ghx,ghu,constant,ghxx,ghuu,ghxu,DynareOptions.threads.local_state_space_iteration_2);
    PredictedObservedMean = mean(tmp(mf1,:),2);
    PredictionError = bsxfun(@minus,Y(:,t),tmp(mf1,:));
    dPredictedObservedMean = bsxfun(@minus,tmp(mf1,:),PredictedObservedMean);
    PredictedObservedVariance = (dPredictedObservedMean*dPredictedObservedMean')/number_of_particles+H;
    wtilde = exp(-.5*(const_lik+log(det(PredictedObservedVariance))+sum(PredictionError.*(PredictedObservedVariance\PredictionError),1))) ;
    tau_tilde = weights.*wtilde ;
    sum_tau_tilde = sum(tau_tilde) ;
    lik(t) = log(sum_tau_tilde) ;
    tau_tilde = tau_tilde/sum_tau_tilde;
    indx_resmpl = resample(tau_tilde,DynareOptions.particle.resampling.method1,DynareOptions.particle.resampling.method2);
    yhat = yhat(:,indx_resmpl);
    wtilde = wtilde(indx_resmpl);
    epsilon = Q_lower_triangular_cholesky*randn(number_of_structural_innovations,number_of_particles);
    tmp = local_state_space_iteration_2(yhat,epsilon,ghx,ghu,constant,ghxx,ghuu,ghxu,DynareOptions.threads.local_state_space_iteration_2);
    StateVectors = tmp(mf0,:);
    PredictedObservedMean = mean(tmp(mf1,:),2);
    PredictionError = bsxfun(@minus,Y(:,t),tmp(mf1,:));
    dPredictedObservedMean = bsxfun(@minus,tmp(mf1,:),PredictedObservedMean);
    PredictedObservedVariance = (dPredictedObservedMean*dPredictedObservedMean')/number_of_particles+H;
    lnw = exp(-.5*(const_lik+log(det(PredictedObservedVariance))+sum(PredictionError.*(PredictedObservedVariance\PredictionError),1)));
    wtilde = lnw./wtilde;
    weights = wtilde/sum(wtilde);
end

LIK = -sum(lik(start:end));