From 174c9cc36bffef1c3a63c6510e4b48c1a893edd7 Mon Sep 17 00:00:00 2001
From: Anton Kullberg <anton.kullberg@liu.se>
Date: Fri, 12 Nov 2021 12:03:54 +0100
Subject: [PATCH] bug: fixed IMM bug
---
src/filters.py | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/filters.py b/src/filters.py
index a1d0e15..bcd2c09 100644
--- a/src/filters.py
+++ b/src/filters.py
@@ -1,5 +1,6 @@
"""Contains filter implementations.
"""
+import pdb
import numpy as np
import scipy.stats as stats
import jax
@@ -111,10 +112,11 @@ class IMM:
"""
# Calc. mixing probabilities
mu = self.transition_prob*self.mode_probabilities[-1][:, None]
- mu = mu/np.sum(mu, axis=0) # Normalize
+ mu = mu/np.sum(mu, axis=1, keepdims=True) # Normalize
# Mixed state
- xp = np.hstack([x@mu[:, [k]] for k in range(self.nmodes)])
+ xp = np.hstack([x@mu[[k], :].T for k in range(self.nmodes)])
Pp = np.zeros(P.shape)
+
for i in range(self.nmodes):
xdiff = x-xp[:, [i]]
covxp = np.stack([xdiff[:, [k]]@xdiff[:, [k]].T for k in range(self.nmodes)], axis=2)
--
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