from typing import Sequence
from ..base import Property
from .array import StateVector
from .base import Type
[docs]class Particle(Type):
"""
Particle type
A particle type which contains a state and weight
"""
state_vector: StateVector = Property(doc="State vector")
weight: float = Property(doc='Weight of particle')
parent: 'Particle' = Property(default=None, doc='Parent particle')
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
if self.parent:
self.parent.parent = None
if self.state_vector is not None and not isinstance(self.state_vector, StateVector):
self.state_vector = StateVector(self.state_vector)
@property
def ndim(self):
return self.state_vector.shape[0]
[docs]class MultiModelParticle(Particle):
"""
Particle type
A MultiModelParticle type which contains a state, weight and the dynamic_model
"""
dynamic_model: int = Property(doc='Assigned dynamic model')
parent: 'MultiModelParticle' = Property(default=None, doc='Parent particle')
[docs]class RaoBlackwellisedParticle(Particle):
"""
Particle type
A RaoBlackwellisedParticle type which contains a state, weight, dynamic_model and
associated model probabilities
"""
model_probabilities: Sequence[float] = Property(
doc="The dynamic probabilities of changing models")
parent: 'RaoBlackwellisedParticle' = Property(default=None, doc='Parent particle')