void PFilterSIRCUDA::update(fvec measurement) {
float neff=0.0;
float* measurementDev;
cudaMalloc( &measurementDev, (size_t) measurement.n_rows * sizeof(float)) ;
cudaMemcpy(measurementDev,measurement.memptr(),(size_t) measurement.n_rows * sizeof(float), cudaMemcpyHostToDevice);
//fmat virtualMeasurementOfParticles;
//fmat differences = zeros<fmat>(measurement.n_rows,particles.samples.n_cols);
frowvec evals;
//virtualMeasurementOfParticles = process->hfun(&particles.samples);
measurementOnGPU = process->hfun_gpu(samplesOnGPU, particles.samples.n_cols, particles.samples.n_rows);
// calculate differences
//differences = virtualMeasurementOfParticles - inputMatrix;
/*for (unsigned int i=0; i< virtualMeasurementOfParticles.n_cols; ++i)
{
for(unsigned int j=0; j<virtualMeasurementOfParticles.n_rows;++j)
{
differences(j,i) = virtualMeasurementOfParticles(j,i) - measurement(j);
}
}*/
callDeviationKernel(measurementOnGPU, measurementDev, particles.samples.n_rows,
particles.samples.n_cols, deviationsOnGPU);
evals = process->eval_gpu(deviationsOnGPU, particles.samples.n_cols);
// % is the Schur product (elementwise vector multiplication
particles.weights = particles.weights % evals;
// get samples from graphics card
cudaMemcpy(particles.samples.memptr(),samplesOnGPU, particles.samples.n_elem * sizeof(float), cudaMemcpyDeviceToHost);
normalizeWeights();
neff=calculateNeff();
if (neff <= nthr) {
#ifdef VERBOSE
printf("too few particles. 1/N for all particles\n");
#endif
particles.weights = ones<frowvec>(particles.weights.n_cols) / (float)particles.weights.n_cols;
}
else particles = resampler->resample(&particles);
}
