def simulate(self, BS=True):
if BS:
def logPsi(xp, x):
return np.sum(C1 * (xp == x).astype(float), axis=1)
C1 = 0.5
w = np.zeros(self.N)
logW = np.zeros(self.N)
Xout = np.zeros((self.I, self.J), dtype=bool)
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), 1)
Xout[:, -1] = self.X[b, :, -1]
for j in np.arange(self.J - 1)[::-1]:
logW = logPsi(Xout[:, j + 1], self.X[:, :, j])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
b = hlp.discreteSampling(w, np.arange(self.N), 1)
Xout[:, j] = self.X[b, :, j]
return Xout
else:
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), M)
return self.X[b, :, :]
def simulate(self, M, BS=True):
r"""Simulate properly weighted sample.
Parameters
----------
BS : bool
Sample using backward simulation.
Returns
-------
Xout : 1-D array_like
Simulated trajectory.
"""
if BS:
def logPsi(xp,x): return -0.5*self.params.tauPsi*(xp-x)**2
w = np.zeros( self.N )
logW = np.zeros( self.N )
Xout = np.zeros( (M, self.d) )
b = hlp.discreteSampling(np.ones(self.N),np.arange(self.N),M)
Xout[:,-1] = self.X[b,-1]
for i in np.arange(self.d-1)[::-1]:
for j in np.arange(M):
logW = logPsi(Xout[j,i+1],self.X[:,i])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
b = hlp.discreteSampling(w, np.arange(self.N), 1)
Xout[j,i] = self.X[b,i]
return Xout
else:
b = hlp.discreteSampling(np.ones(self.N),np.arange(self.N),M)
return self.Xa[b,:]
def simulate(self, BS=True):
"""Simulate properly weighted sample.
Parameters
----------
BS : bool
Sample using backward simulation.
Returns
-------
Xout : 2-D array_like
Simulated trajectory.
"""
if BS:
C1 = 0.5
def logPsi(xp,x): return np.sum(C1*(x==xp).astype(float))
w = np.zeros( self.N )
logW = np.zeros( self.N )
Xout = np.zeros( (self.I, self.J), dtype=bool )
b = hlp.discreteSampling(np.ones(self.N),np.arange(self.N),1)
Xout[:,-1] = self.X[b,:,-1]
for i in np.arange(self.J-1)[::-1]:
logW = logPsi(Xout[:,i+1],self.X[:,:,i])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
b = hlp.discreteSampling(w, np.arange(self.N), 1)
Xout[:,i] = self.X[b,:,i]
return Xout
else:
b = hlp.discreteSampling(np.ones(self.N),np.arange(self.N),M)
return self.X[b,:,:]
def simulate(self, BS=True):
if BS:
def logPsi(xp, x):
return np.sum(C1 * (xp == x).astype(float), axis=1)
C1 = 0.5
w = np.zeros(self.N)
logW = np.zeros(self.N)
Xout = np.zeros((self.I, self.J), dtype=bool)
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), 1)
Xout[:, -1] = self.X[b, :, -1]
for j in np.arange(self.J - 1)[::-1]:
logW = logPsi(Xout[:, j + 1], self.X[:, :, j])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
b = hlp.discreteSampling(w, np.arange(self.N), 1)
Xout[:, j] = self.X[b, :, j]
return Xout
else:
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), M)
return self.X[b, :, :]
def simulate(self, BS=True):
"""Simulate properly weighted sample.
Parameters
----------
BS : bool
Sample using backward simulation.
Returns
-------
Xout : 1-D array_like
Simulated trajectory.
"""
if BS:
C1 = 0.5
def logPsi(xp, x):
return C1 * (x == xp)
w = np.zeros(self.N)
logW = np.zeros(self.N)
Xout = np.zeros(self.I)
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), 1)
Xout[-1] = self.X[b, -1]
for i in np.arange(self.I - 1)[::-1]:
logW = logPsi(Xout[i + 1], self.X[:, i])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
b = hlp.discreteSampling(w, np.arange(self.N), 1)
Xout[i] = self.X[b, i]
return Xout
else:
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), M)
return self.Xa[b, :]
def simulate(self, M, BS=True):
r"""Simulate properly weighted sample.
Parameters
----------
BS : bool
Sample using backward simulation.
Returns
-------
Xout : 1-D array_like
Simulated trajectory.
"""
if BS:
def logPsi(xp, x):
return -0.5 * self.params.tauPsi * (xp - x)**2
w = np.zeros(self.N)
logW = np.zeros(self.N)
Xout = np.zeros((M, self.d))
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), M)
Xout[:, -1] = self.X[b, -1]
for i in np.arange(self.d - 1)[::-1]:
for j in np.arange(M):
logW = logPsi(Xout[j, i + 1], self.X[:, i])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
b = hlp.discreteSampling(w, np.arange(self.N), 1)
Xout[j, i] = self.X[b, i]
return Xout
else:
b = hlp.discreteSampling(np.ones(self.N), np.arange(self.N), M)
return self.Xa[b, :]
for col in range(d):
for row in range(d):
# Propagate
wInd = np.zeros(5)
wInd[0] = 1.
if row > 0:
wInd[2] = 0.5
if row < d - 1:
wInd[4] = 0.5
if col > 0:
wInd[1] = 0.5
if col < d - 1:
wInd[3] = 0.5
wInd /= np.sum(wInd)
for j in range(M):
ind = hlp.discreteSampling(wInd, range(5), 1)
xMean = np.zeros(M)
if ind == 0:
xMean[j] = Xprev[i, j, row, col]
elif ind == 1:
xMean[j] = Xprev[i, j, row, col - 1]
elif ind == 2:
xMean[j] = Xprev[i, j, row - 1, col]
elif ind == 3:
xMean[j] = Xprev[i, j, row, col + 1]
elif ind == 4:
xMean[j] = Xprev[i, j, row + 1, col]
Xcur[i, :, row, col] = xMean + np.random.normal(size=M)
# Weight
logW = logPhi(Xcur[i, :, row, col], y[t, row, col])
def __init__(self, t, N, xCond=None):
def phi(x, y, sig2, mu_ab, mu_norm):
return np.exp(-0.5 * (y - mu_ab * x.astype("float") - mu_norm * (1.0 - x.astype("float"))) ** 2 / sig2)
def rho(xp, x):
return np.exp(C2 * (xp.astype("bool") == x.astype("bool")).astype("float"))
def psi(xp, x):
return np.exp(C1 * (xp == x).astype("float"))
C1 = 0.5
C2 = 3.0
# Model init
xDomain = np.arange(2)
psiMat = np.array(
[
np.exp(C1 * (xDomain.astype("bool") == False).astype("float")),
np.exp(C1 * (xDomain.astype("bool") == True).astype("float")),
]
)
# Load parameters
# region = 'dustBowl'
region = "sahel"
filename = "parameters/" + region + "Sigma2_N35-55_W90-120_downsampled.csv"
sigma2 = np.loadtxt(filename, delimiter=",")
filename = "parameters/" + region + "MuAb_N35-55_W90-120_downsampled.csv"
muAb = np.loadtxt(filename, delimiter=",")
filename = "parameters/" + region + "MuNorm_N35-55_W90-120_downsampled.csv"
muNorm = np.loadtxt(filename, delimiter=",")
filename = "processedData/" + region + "Yt" + str(t) + "_N35-55_W90-120_downsampled.csv"
Y = np.loadtxt(filename, delimiter=",")
I = Y.shape[0]
J = Y.shape[1]
# SMC init
X = np.zeros((N, I, J), dtype=bool)
ancestors = np.zeros(N)
logZ = 0.0
logW = np.zeros(N)
w = np.zeros(N)
ESS = np.zeros(J)
msg = np.zeros((N, I, 2))
c = np.zeros((N, I))
# ---------------
# SMC
# ---------------
# SMC first iteration, j = 0
# Forward filtering
unaryFactor = np.ones((N, I, 2))
for n in range(N):
unaryFactor[n, 0, :] *= phi(xDomain, Y[0, 0], sigma2[0, 0], muAb[0, 0], muNorm[0, 0])
unaryFactor[n, 0, :] *= rho(xDomain, xCond[0, 0])
msg[n, 0, :] = np.dot(psiMat, unaryFactor[n, 0, :])
c[n, 0] = np.sum(msg[n, 0, :])
msg[n, 0, :] /= c[n, 0]
for i in np.arange(1, I - 1):
unaryFactor[n, i, :] *= phi(xDomain, Y[i, 0], sigma2[i, 0], muAb[i, 0], muNorm[i, 0])
unaryFactor[n, i, :] *= rho(xDomain, xCond[i, 0])
msg[n, i, :] = np.dot(psiMat, unaryFactor[n, i, :] * msg[n, i - 1, :])
c[n, i] = np.sum(msg[n, i, :])
msg[n, i, :] /= c[n, i]
unaryFactor[n, I - 1, :] *= phi(xDomain, Y[I - 1, 0], sigma2[I - 1, 0], muAb[I - 1, 0], muNorm[I - 1, 0])
unaryFactor[n, I - 1, :] *= rho(xDomain, xCond[I - 1, 0])
# Backward sampling
for n in range(N):
tempDist = unaryFactor[n, I - 1, :] * msg[n, I - 2, :]
tempDist /= np.sum(tempDist)
X[n, I - 1, 0] = hlp.discreteSampling(tempDist, xDomain, 1)
for i in np.arange(2, I - 1)[::-1]:
tempDist = unaryFactor[n, i, :] * msg[n, i - 1, :]
tempDist /= np.sum(tempDist)
X[n, i, 0] = hlp.discreteSampling(tempDist * psiMat[:, X[n, i + 1, 0]], xDomain, 1)
logW = np.sum(np.log(c[:, : I - 1]), axis=1) + np.log(
np.sum(unaryFactor[:, I - 1, :] * msg[:, I - 2, :], axis=1)
)
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
logZ += maxLogW + np.log(np.sum(w)) - np.log(N)
# SMC iteration j = 1 to J
for j in np.arange(1, J):
# Forward filtering
unaryFactor = np.ones((N, I, 2))
for n in range(N):
unaryFactor[n, 0, :] *= phi(xDomain, Y[0, j], sigma2[0, j], muAb[0, j], muNorm[0, j])
unaryFactor[n, 0, :] *= rho(xDomain, xCond[0, j])
unaryFactor[n, 0, :] *= psi(xDomain, X[n, 0, j - 1])
msg[n, 0, :] = np.dot(psiMat, unaryFactor[n, 0, :])
c[n, 0] = np.sum(msg[n, 0, :])
msg[n, 0, :] /= c[n, 0]
for i in np.arange(1, I - 1):
unaryFactor[n, i, :] *= phi(xDomain, Y[i, j], sigma2[i, j], muAb[i, j], muNorm[i, j])
unaryFactor[n, i, :] *= rho(xDomain, xCond[i, j])
unaryFactor[n, i, :] *= psi(xDomain, X[n, i, j - 1])
msg[n, i, :] = np.dot(psiMat, unaryFactor[n, i, :] * msg[n, i - 1, :])
c[n, i] = np.sum(msg[n, i, :])
msg[n, i, :] /= c[n, i]
unaryFactor[n, I - 1, :] *= phi(
xDomain, Y[I - 1, j], sigma2[I - 1, j], muAb[I - 1, j], muNorm[I - 1, j]
)
unaryFactor[n, I - 1, :] *= rho(xDomain, xCond[I - 1, j])
unaryFactor[n, I - 1, :] *= psi(xDomain, X[n, I - 1, j - 1])
logW = np.sum(np.log(c[:, : I - 1]), axis=1) + np.log(
np.sum(unaryFactor[:, I - 1, :] * msg[:, I - 2, :], axis=1)
)
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
logZ += maxLogW + np.log(np.sum(w)) - np.log(N)
ancestors = res.resampling(w, "stratified")
# Backward sampling
for n in range(N):
tempDist = unaryFactor[ancestors[n], I - 1, :] * msg[ancestors[n], I - 2, :]
tempDist /= np.sum(tempDist)
X[n, I - 1, j] = hlp.discreteSampling(tempDist, xDomain, 1)
for i in np.arange(2, I - 1)[::-1]:
tempDist = unaryFactor[ancestors[n], i, :] * msg[ancestors[n], i - 1, :]
tempDist /= np.sum(tempDist)
X[n, i, j] = hlp.discreteSampling(tempDist * psiMat[:, X[n, i + 1, j]], xDomain, 1)
## Save init to class object
self.N = N
self.J = J
self.I = I
self.X = X
self.logZ = logZ
self.w = w
self.xCond = xCond
self.ESS = ESS
def __init__(self, t, N, xCond=None):
def phi(x, y, sig2, mu_ab, mu_norm):
return np.exp(-0.5 * (y - mu_ab * x.astype('float') - mu_norm *
(1. - x.astype('float')))**2 / sig2)
def rho(xp, x):
return np.exp(
C2 * (xp.astype('bool') == x.astype('bool')).astype('float'))
def psi(xp, x):
return np.exp(C1 * (xp == x).astype('float'))
C1 = 0.5
C2 = 3.
# Model init
xDomain = np.arange(2)
psiMat = np.array([
np.exp(C1 * (xDomain.astype('bool') == False).astype('float')),
np.exp(C1 * (xDomain.astype('bool') == True).astype('float'))
])
# Load parameters
#region = 'dustBowl'
region = 'sahel'
filename = 'parameters/' + region + 'Sigma2_N35-55_W90-120_downsampled.csv'
sigma2 = np.loadtxt(filename, delimiter=',')
filename = 'parameters/' + region + 'MuAb_N35-55_W90-120_downsampled.csv'
muAb = np.loadtxt(filename, delimiter=',')
filename = 'parameters/' + region + 'MuNorm_N35-55_W90-120_downsampled.csv'
muNorm = np.loadtxt(filename, delimiter=',')
filename = 'processedData/' + region + 'Yt' + str(
t) + '_N35-55_W90-120_downsampled.csv'
Y = np.loadtxt(filename, delimiter=',')
I = Y.shape[0]
J = Y.shape[1]
# SMC init
X = np.zeros((N, I, J), dtype=bool)
ancestors = np.zeros(N)
logZ = 0.
logW = np.zeros(N)
w = np.zeros(N)
ESS = np.zeros(J)
msg = np.zeros((N, I, 2))
c = np.zeros((N, I))
# ---------------
# SMC
# ---------------
# SMC first iteration, j = 0
# Forward filtering
unaryFactor = np.ones((N, I, 2))
for n in range(N):
unaryFactor[n, 0, :] *= phi(xDomain, Y[0, 0], sigma2[0, 0],
muAb[0, 0], muNorm[0, 0])
unaryFactor[n, 0, :] *= rho(xDomain, xCond[0, 0])
msg[n, 0, :] = np.dot(psiMat, unaryFactor[n, 0, :])
c[n, 0] = np.sum(msg[n, 0, :])
msg[n, 0, :] /= c[n, 0]
for i in np.arange(1, I - 1):
unaryFactor[n, i, :] *= phi(xDomain, Y[i, 0], sigma2[i, 0],
muAb[i, 0], muNorm[i, 0])
unaryFactor[n, i, :] *= rho(xDomain, xCond[i, 0])
msg[n, i, :] = np.dot(psiMat,
unaryFactor[n, i, :] * msg[n, i - 1, :])
c[n, i] = np.sum(msg[n, i, :])
msg[n, i, :] /= c[n, i]
unaryFactor[n, I - 1, :] *= phi(xDomain, Y[I - 1, 0], sigma2[I - 1,
0],
muAb[I - 1, 0], muNorm[I - 1, 0])
unaryFactor[n, I - 1, :] *= rho(xDomain, xCond[I - 1, 0])
# Backward sampling
for n in range(N):
tempDist = unaryFactor[n, I - 1, :] * msg[n, I - 2, :]
tempDist /= np.sum(tempDist)
X[n, I - 1, 0] = hlp.discreteSampling(tempDist, xDomain, 1)
for i in np.arange(2, I - 1)[::-1]:
tempDist = unaryFactor[n, i, :] * msg[n, i - 1, :]
tempDist /= np.sum(tempDist)
X[n, i, 0] = hlp.discreteSampling(
tempDist * psiMat[:, X[n, i + 1, 0]], xDomain, 1)
logW = np.sum(np.log(c[:, :I - 1]), axis=1) + np.log(
np.sum(unaryFactor[:, I - 1, :] * msg[:, I - 2, :], axis=1))
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
logZ += maxLogW + np.log(np.sum(w)) - np.log(N)
# SMC iteration j = 1 to J
for j in np.arange(1, J):
# Forward filtering
unaryFactor = np.ones((N, I, 2))
for n in range(N):
unaryFactor[n, 0, :] *= phi(xDomain, Y[0, j], sigma2[0, j],
muAb[0, j], muNorm[0, j])
unaryFactor[n, 0, :] *= rho(xDomain, xCond[0, j])
unaryFactor[n, 0, :] *= psi(xDomain, X[n, 0, j - 1])
msg[n, 0, :] = np.dot(psiMat, unaryFactor[n, 0, :])
c[n, 0] = np.sum(msg[n, 0, :])
msg[n, 0, :] /= c[n, 0]
for i in np.arange(1, I - 1):
unaryFactor[n, i, :] *= phi(xDomain, Y[i, j], sigma2[i, j],
muAb[i, j], muNorm[i, j])
unaryFactor[n, i, :] *= rho(xDomain, xCond[i, j])
unaryFactor[n, i, :] *= psi(xDomain, X[n, i, j - 1])
msg[n,
i, :] = np.dot(psiMat,
unaryFactor[n, i, :] * msg[n, i - 1, :])
c[n, i] = np.sum(msg[n, i, :])
msg[n, i, :] /= c[n, i]
unaryFactor[n,
I - 1, :] *= phi(xDomain, Y[I - 1,
j], sigma2[I - 1, j],
muAb[I - 1, j], muNorm[I - 1, j])
unaryFactor[n, I - 1, :] *= rho(xDomain, xCond[I - 1, j])
unaryFactor[n, I - 1, :] *= psi(xDomain, X[n, I - 1, j - 1])
logW = np.sum(np.log(c[:, :I - 1]), axis=1) + np.log(
np.sum(unaryFactor[:, I - 1, :] * msg[:, I - 2, :], axis=1))
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
logZ += maxLogW + np.log(np.sum(w)) - np.log(N)
ancestors = res.resampling(w, 'stratified')
# Backward sampling
for n in range(N):
tempDist = unaryFactor[ancestors[n],
I - 1, :] * msg[ancestors[n], I - 2, :]
tempDist /= np.sum(tempDist)
X[n, I - 1, j] = hlp.discreteSampling(tempDist, xDomain, 1)
for i in np.arange(2, I - 1)[::-1]:
tempDist = unaryFactor[ancestors[n],
i, :] * msg[ancestors[n], i - 1, :]
tempDist /= np.sum(tempDist)
X[n, i, j] = hlp.discreteSampling(
tempDist * psiMat[:, X[n, i + 1, j]], xDomain, 1)
## Save init to class object
self.N = N
self.J = J
self.I = I
self.X = X
self.logZ = logZ
self.w = w
self.xCond = xCond
self.ESS = ESS
def __init__(self, params, y, N, xTimeCond=None, xSpaceCond=None):
C1 = 0.5
C2 = 3.
# Model init
xDomain = np.arange(2)
def logPhi(x, y, sig2, mu_ab, mu_norm):
return -0.5 * (y - mu_ab * x.astype('float') - mu_norm *
(1. - x.astype('float')))**2 / sig2
I = params.I
muAb = params.muAb
muNorm = params.muNorm
sigma2 = params.sigma2
# SMC init
X = np.zeros((N, I), dtype=bool)
ancestors = np.zeros(N)
logZ = 0.
logW = np.zeros(N)
w = np.zeros(N)
# ---------------
# SMC
# ---------------
# Sample proposal
tempDist = np.zeros(2)
if xTimeCond is not None:
tempDist += C2 * (xTimeCond[0] == xDomain.astype(bool))
if xSpaceCond is not None:
tempDist += C1 * (xSpaceCond[0] == xDomain.astype(bool))
tempDist = np.exp(tempDist)
tempDist /= np.sum(tempDist)
X[:, 0] = hlp.discreteSampling(tempDist, xDomain, N)
# Weighting
logW = logPhi(X[:, 0], y[0], sigma2[0], muAb[0], muNorm[0])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
logZ = maxLogW + np.log(np.sum(w)) - np.log(N)
w /= np.sum(w)
ancestors = hlp.resampling(w)
X[:, 0] = X[ancestors, 0]
## SMC MAIN LOOP
for i in np.arange(1, I):
tempDist = np.zeros(2)
if xTimeCond is not None:
tempDist += C2 * (xTimeCond[i] == xDomain.astype(bool))
if xSpaceCond is not None:
tempDist += C1 * (xSpaceCond[i] == xDomain.astype(bool))
for iParticle in range(N):
tempParticleDist = tempDist + C1 * (X[iParticle, i - 1]
== xDomain.astype(bool))
tempParticleDist = np.exp(tempParticleDist)
tempParticleDist /= np.sum(tempParticleDist)
X[iParticle, i] = hlp.discreteSampling(tempParticleDist,
xDomain, 1)
logW = logPhi(X[:, i], y[i], sigma2[i], muAb[i], muNorm[i])
maxLogW = np.max(logW)
w = np.exp(logW - maxLogW)
logZ += maxLogW + np.log(np.sum(w)) - np.log(N)
#if math.isnan(logZ):
#print 'X: ',X[:,i]
#print 'y: ',y[i]
#print 'muAb: ',muAb[i]
#print 'muNorm: ',muNorm[i]
#print 'sig2: ',sigma2[i]
#raw_input()
w /= np.sum(w)
ancestors = hlp.resampling(w)
X[:, i] = X[ancestors, i]
## Save init to class object
self.N = N
self.C1 = C1
self.I = I
self.X = X
self.y = y
self.logZ = logZ
self.w = w
def __init__(self, params, y, N, xTimeCond=None, xSpaceCond=None):
C1 = 0.5
C2 = 3.
# Model init
xDomain = np.arange(2)
def logPhi(x,y,sig2,mu_ab,mu_norm): return -0.5*(y-mu_ab*x.astype('float')-mu_norm*(1.-x.astype('float')))**2/sig2
I = params.I
muAb = params.muAb
muNorm = params.muNorm
sigma2 = params.sigma2
# SMC init
X = np.zeros( (N, I), dtype=bool )
ancestors = np.zeros( N )
logZ = 0.
logW = np.zeros( N )
w = np.zeros( N )
# ---------------
# SMC
# ---------------
# Sample proposal
tempDist = np.zeros(2)
if xTimeCond is not None:
tempDist += C2*(xTimeCond[0] == xDomain.astype(bool))
if xSpaceCond is not None:
tempDist += C1*(xSpaceCond[0] == xDomain.astype(bool))
tempDist = np.exp(tempDist)
tempDist /= np.sum(tempDist)
X[:,0] = hlp.discreteSampling(tempDist, xDomain, N)
# Weighting
logW = logPhi(X[:,0], y[0], sigma2[0], muAb[0], muNorm[0])
maxLogW = np.max(logW)
w = np.exp(logW-maxLogW)
logZ = maxLogW + np.log(np.sum(w)) - np.log(N)
w /= np.sum(w)
ancestors = hlp.resampling(w)
X[:,0] = X[ancestors,0]
## SMC MAIN LOOP
for i in np.arange(1,I):
tempDist = np.zeros(2)
if xTimeCond is not None:
tempDist += C2*(xTimeCond[i] == xDomain.astype(bool))
if xSpaceCond is not None:
tempDist += C1*(xSpaceCond[i] == xDomain.astype(bool))
for iParticle in range(N):
tempParticleDist = tempDist+C1*(X[iParticle,i-1] == xDomain.astype(bool))
tempParticleDist = np.exp(tempParticleDist)
tempParticleDist /= np.sum(tempParticleDist)
X[iParticle,i] = hlp.discreteSampling(tempParticleDist, xDomain, 1)
logW = logPhi(X[:,i], y[i], sigma2[i], muAb[i], muNorm[i])
maxLogW = np.max(logW)
w = np.exp(logW-maxLogW)
logZ += maxLogW + np.log(np.sum(w)) - np.log(N)
#if math.isnan(logZ):
#print 'X: ',X[:,i]
#print 'y: ',y[i]
#print 'muAb: ',muAb[i]
#print 'muNorm: ',muNorm[i]
#print 'sig2: ',sigma2[i]
#raw_input()
w /= np.sum(w)
ancestors = hlp.resampling(w)
X[:,i] = X[ancestors,i]
## Save init to class object
self.N = N
self.C1 = C1
self.I = I
self.X = X
self.y = y
self.logZ = logZ
self.w = w
for col in range(d):
for row in range(d):
# Propagate
wInd = np.zeros(5)
wInd[0] = 1.
if row>0:
wInd[2] = 0.5
if row<d-1:
wInd[4] = 0.5
if col>0:
wInd[1] = 0.5
if col<d-1:
wInd[3] = 0.5
wInd /= np.sum(wInd)
for j in range(M):
ind = hlp.discreteSampling(wInd, range(5), 1)
xMean = np.zeros(M)
if ind == 0:
xMean[j] = Xprev[i,j,row,col]
elif ind == 1:
xMean[j] = Xprev[i,j,row,col-1]
elif ind == 2:
xMean[j] = Xprev[i,j,row-1,col]
elif ind == 3:
xMean[j] = Xprev[i,j,row,col+1]
elif ind == 4:
xMean[j] = Xprev[i,j,row+1,col]
Xcur[i,:,row,col] = xMean + np.random.normal(size=M)
# Weight
logW = logPhi(Xcur[i,:,row,col],y[t,row,col])
