| 452 | |
| 453 | |
| 454 | void SIR_kalman_scheme::mean () |
| 455 | /* Update state mean |
| 456 | * Pre : S |
| 457 | * Post: x,S |
| 458 | */ |
| 459 | { |
| 460 | // Mean of distribution: mean of particles |
| 461 | x.clear(); |
| 462 | const std::size_t nSamples = S.size2(); |
| 463 | for (std::size_t i = 0; i != nSamples; ++i) { |
| 464 | FM::ColMatrix::Column Si(S,i); |
| 465 | x.plus_assign (Si); |
| 466 | } |
| 467 | x /= Float(S.size2()); |
| 468 | } |
| 469 | |
| 470 | |
| 471 | Bayes_base::Float |