dstl / Stone-Soup

A software project to provide the target tracking community with a framework for the development and testing of tracking algorithms.
https://stonesoup.rtfd.io
MIT License
385 stars 127 forks source link

Add log weight property to Particle State #791

Closed sdhiscocks closed 1 year ago

sdhiscocks commented 1 year ago

This has a performance advantage with many particles, by simply storing weights in log space, and converting to weights dynamically when required (utilising a cache for the property).

Code changes include filters keeping weights in log space, and backwards compatible, so no need to make any changes to have performance advantage.

Relates to #780