Skip to content

fix: restore from Gibbs indices to measurement indices #3

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

fix: restore from Gibbs indices to measurement indices #3

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 12 additions & 4 deletions cpp_ms_glmb_ukf/src/run_filter.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -404,13 +404,21 @@ class MSGLMB {
if (update_hypcmp_tmp(ivec, 0) < 0) { // check death target in only one sensor
off_vec.push_back(ivec);
stemp += avqs(tindices(ivec));
} else if (update_hypcmp_tmp(ivec, 0) == 0) {
not_off_vec.push_back(ivec);
stemp += avps(tindices(ivec));
} else { // >0
} else {
not_off_vec.push_back(ivec);
stemp += avps(tindices(ivec));
}
}
// Restore from Gibbs indices to measurement indices
for (int s = 0; s < mModel.N_sensors; s++) {
for (int i : not_off_vec) {
if (update_hypcmp_tmp(i, s) > 0) {
update_hypcmp_tmp(i, s) = mindices[s](update_hypcmp_tmp(i, s));
}
}
}

for (int ivec = 0; ivec < update_hypcmp_tmp.rows(); ivec++) {
for (int s = 0; s < update_hypcmp_tmp.cols(); s++) {
int mIndex = update_hypcmp_tmp(ivec, s); // measurement index
if (mIndex > 0) {
Expand Down
5 changes: 5 additions & 0 deletions ms_glmb_ukf/run_filter.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -343,6 +343,11 @@ def msjointpredictupdate(self, model, filter, meas, k):
for hidx in range(len(uasses)):
update_hypcmp_tmp = uasses[hidx]
off_idx = update_hypcmp_tmp[:, 0] < 0

# Restore from Gibbs indices to measurement indices
for s in range(model.N_sensors):
update_hypcmp_tmp[~off_idx, s] = mindices[s][update_hypcmp_tmp[~off_idx, s]]

aug_idx = np.column_stack((tindices, update_hypcmp_tmp)) # [tindices, 1 + update_hypcmp_tmp]
mis_idx = update_hypcmp_tmp == 0
det_idx = update_hypcmp_tmp > 0
Expand Down