def init_based_on_last_frame(this, lastResult):
this.schedule, this.Q = init_schedule(this, this.A, this.nEdges)
# Initialize the node data (particles, likelihood and max marginal value)
this.b = [None]*this.nNodes
this.new_b = [None]*this.nNodes
for i in this.nodeIdx:
#print ' ###*** nParticles ' +str(i) + ': ' + str(this.nParticles[i])
this.b[i] = {'x':lastResult.new_b[i]['x'][:,:this.nParticles[i]], 'L':np.zeros((this.nParticles[i])), 'value':np.zeros((this.nParticles[i]))}
#print ' *** x: ' + str(this.b[i]['x'].shape)
#print ' *** L: ' + str(this.b[i]['L'].shape)
#print ' *** v: ' + str(this.b[i]['value'].shape)
this.new_b[i] = {'x':lastResult.new_b[i]['x'][:,:this.nParticles[i]], 'L':np.zeros((this.nParticles[i])), 'value':np.zeros((this.nParticles[i]))}
# Particles initialization
init_particles_based_on_last_frame(this, lastResult)
# Beliefs initialization
for i in this.nodeIdx:
this.b[i]['L'] = particles.compute_likelihood(this, i, this.b[i]['x'])
this.b[i]['value'] = this.b[i]['L']
# Messages initialization
init_messages(this)
return
def init(this):
this.schedule, this.Q = init_schedule(this, this.A, this.nEdges)
# Initialize the node data (particles, likelihood and max marginal value)
this.b = [None]*this.nNodes
this.new_b = [None]*this.nNodes
for i in this.nodeIdx:
this.b[i] = {'x':np.zeros((this.nodeDim[i],this.nParticles[i])), 'L':np.zeros((this.nParticles[i])), 'value':np.zeros((this.nParticles[i]))}
this.new_b[i] = {'x':np.zeros((this.nodeDim[i],this.nParticles[i])), 'L':np.zeros((this.nParticles[i])), 'value':np.zeros((this.nParticles[i]))}
# Particles initialization
init_particles(this)
# Beliefs initialization
for i in this.nodeIdx:
this.b[i]['L'] = particles.compute_likelihood(this, i, this.b[i]['x'])
this.b[i]['value'] = this.b[i]['L']
# Messages initialization
init_messages(this)
return
