struct mrpt::bayes::CParticleFilter::TParticleFilterStats

Overview

Statistics returned from CParticleFilter::executeOn().

#include <mrpt/bayes/CParticleFilter.h>

struct TParticleFilterStats
{
    // fields

    double ESS_beforeResample {0};
    double weightsVariance_beforeResample {0};
};

Fields

double ESS_beforeResample {0}

Effective sample size (ESS) computed before the resampling step.

double weightsVariance_beforeResample {0}

Unbiased sample variance of the linear weights exp(log_w) before resampling, with weights scaled so that the largest one is 1.