文件列表:

CondensationAlgorithm\Condensation\condensation.c (5246, 2006-10-20)
CondensationAlgorithm\Condensation\Condensation.dsp (4450, 2006-10-20)
CondensationAlgorithm\Condensation\Condensation.dsw (547, 2006-10-20)
CondensationAlgorithm\Condensation\condensation.h (476, 1998-08-12)
CondensationAlgorithm\Condensation\Condensation.ncb (50176, 2006-11-07)
CondensationAlgorithm\Condensation\Condensation.opt (56832, 2006-11-07)
CondensationAlgorithm\Condensation\Condensation.plg (2654, 2006-10-20)
CondensationAlgorithm\Condensation\data_types.h (5128, 1998-09-30)
CondensationAlgorithm\Condensation\makefile (612, 1998-09-30)
CondensationAlgorithm\Condensation\model_parameters.h (1464, 1998-09-30)
CondensationAlgorithm\Condensation\model_specific.c (7052, 2006-10-20)
CondensationAlgorithm\Condensation\StdAfx.cpp (305, 2006-10-18)
CondensationAlgorithm\Condensation\StdAfx.h (773, 2006-10-18)
CondensationAlgorithm\Condensation\utility.c (1161, 1998-08-12)
CondensationAlgorithm\Condensation\Debug (0, 2006-10-20)
CondensationAlgorithm\Condensation (0, 2006-11-07)
CondensationAlgorithm\SimpleCond (0, 2006-10-20)
CondensationAlgorithm (0, 2006-10-20)

This is a trivial implementation of Condensation, designed for tutorial purposes. Simulated data is generated modelling a particle moving in one dimension under the action of a first-order auto-regressive process with measurements corrupted by noise. The Condensation algorithm then tracks the particle using a model of the same form, and the state distribution is displayed at each timestep using an ASCII histogram, along with the estimated, true and measured particle positions. The estimated position is displayed as an 'x', the measured position a '+' and the true position a '.' - if any two coincide in the same character position a '*' is displayed there instead. To build the program, first edit the makefile. The default compiler is `cc' and this can be changed if necessary. By default, the option -DANSI_TERM_SEQUENCES is sent to the compiler, which causes the program to generate control codes to scroll the cursor up the terminal after each iteration and then sleep(1), resulting in an `animated' histogram. On a Windows machine, this option should be removed from the CCOPTS line of the makefile to allow successful compilation. When the makefile has been edited, type `make' and the executable `condense' will be produced. Now run `./condense' All of the parameters of the simulation and process models can be changed by altering model_parameters.h and recompiling. Files in the distribution: README This file. makefile condensation.h Declarations of external functions and variables. data_types.h Declarations of data structures used. model_parameters.h Constants specifying the process and observation models used. utility.c Routines to generate Gaussian noise and evaluate a Gaussian density. model_specific.c Routines for sampling from the process model, evaluating the observation density, generating simulated data and displaying the estimated distribution. These routines can be replaced by more complex models for a realistic application. condensation.c The generic condensation algorithm. The routines in this file implement the basic condensation algorithm and can be used with any process or observation model.

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