CondensationTracker::CondensationTracker(
std::shared_ptr<TransitionModel> transitionModel, std::shared_ptr<MeasurementModel> measurementModel,
std::shared_ptr<ResamplingAlgorithm> resamplingAlgorithm, std::shared_ptr<StateExtractor> extractor,
size_t count, double randomRate, int minSize, int maxSize) :
count(count),
randomRate(randomRate),
minSize(minSize),
maxSize(maxSize),
samples(),
oldSamples(),
state(),
adapted(false),
image(make_shared<VersionedImage>()),
transitionModel(transitionModel),
measurementModel(measurementModel),
resamplingAlgorithm(resamplingAlgorithm),
extractor(extractor),
validators(),
generator(boost::mt19937(time(0))),
intDistribution(boost::uniform_int<>()),
realDistribution(boost::uniform_real<>()) {
if (minSize < 1)
throw invalid_argument("ResamplingSampler: the minimum size must be greater than zero");
if (maxSize < minSize)
throw invalid_argument("ResamplingSampler: the maximum size must not be smaller than the minimum size");
setRandomRate(randomRate);
shared_ptr<StateValidator> validator = std::dynamic_pointer_cast<StateValidator>(measurementModel);
if (validator)
addValidator(validator);
}
ResamplingSampler::ResamplingSampler(unsigned int count, double randomRate,
shared_ptr<ResamplingAlgorithm> resamplingAlgorithm, shared_ptr<TransitionModel> transitionModel, int minSize, int maxSize) :
count(count),
randomRate(randomRate),
resamplingAlgorithm(resamplingAlgorithm),
transitionModel(transitionModel),
minSize(minSize),
maxSize(maxSize),
generator(boost::mt19937(time(0))),
intDistribution(boost::uniform_int<>()),
realDistribution(boost::uniform_real<>()) {
if (minSize < 1)
throw invalid_argument("ResamplingSampler: the minimum size must be greater than zero");
if (maxSize < minSize)
throw invalid_argument("ResamplingSampler: the maximum size must not be smaller than the minimum size");
setRandomRate(randomRate);
}
