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From: Alex Makarenko <alexei@ca...>  20070708 07:46:23

I'm hoping to use spasm for a quick ddflike project whith gaussian and discrete distributions. I've just submitted a few changes which makes spasmbase compile with gcc4.2. Also added a first stab at discrete 1D pdf implementation. I have a couple of questions: 1. spasmbase defines a few lowlevel operators, these I understand (I think): a) pdf*pdf (combines two posteriors, the result is correct if they are independent) b) pdf*like (combines a prior and a likelihood, correct if cond. independent) c) pdf/pdf (removes some information from the posterior) d) conv(pdf,pdf) (prediction) but what are these? e) conv(pdf,pdf) (addition) f) conv(pdf,pdf) (subtraction) back to (d)... the fact that the two pdf's are of the same type (and size) suggests that the transition function x>x' does not depend on x: F(x,x')=f(x'), i.e. the same motion+noise is applied to the belief at all points of the state space. Is this true? My problem is that for discrete states (e.g. target type), these transitions are usually not constant and should be specified by a NxN matrix (where N is the size of the state vector). Is it possible to incorporate this? cheers, alex 
From: Phil Sammons <sammons@gm...>  20060703 01:39:26

Thanks Paul, I'm sure if I read i a few times i'll get my head around it. Thanks for writing it out clearly. Would the iterating be a lot faster using this method? so far, the way I was doing it was not as fast as I had hoped. Cheers Phil Sammons Today's Topics: > > 1. Re: Spasm 2.0, discrete grids (Paul Thompson) > > >  > > Message: 1 > Date: Fri, 30 Jun 2006 17:20:01 +1000 > From: "Paul Thompson" <p.thompson@...> > Subject: Re: [Spasmdevel] Spasm 2.0, discrete grids > To: <spasmdevel@...> > MessageID: <200606300720.k5U7K2nB010683@...> > ContentType: text/plain; charset="usascii" > > Phil, > > There's boost::multi_array, which is templated by the number of > dimensions. > > Construction with different numbers of cells in each dimension, and > iterating over the cells are helped using boost::array > > This allows one to write _dimensionindependent code_ . > This would seem to be more flexible than matrices of matrices or vectors > of > vectors of vectors... > > Perhaps this would be a good base for the spasm discrete grid stuff. > I'm not actually working with discrete grids, so this never progressed > beyond looking at the multidimensional array iteration. > > Hope it helps. > > Paul Thompson. > > > > > > > #include "boost/multi_array.hpp" > #include <cassert> > #include <cmath> > > ... > > //construction of multidimensional array, > const int numdims = 4; > const int cells_per_dim = 20; > typedef double valuetype; > typedef boost::multi_array<valuetype, numdims> array_type; > > boost::array<array_type::index, numdims> shape; > shape[0] = 10; shape[1] = 11; shape[2] = 12; shape[3] = 14; //size > of > the dimensions > > //construct the multidim array (10 x 11 x 12 x 14 4 dimensional > array > !) > array_type A(shape); > > boost::array<array_type::index,numdims> idx; > idx[0] = 5; idx[1] = 6; idx[2] = 7; idx[3] = 8; > > //set the (5,6,7,8) entry in the matrix: > A(idx) = 0.0; > > > > > > > The boost::array idx can be used to iterate over the matrix: > > > void iterate_multidimarray_do_something_func( > int numdims, > int cells_per_dim, > array_type &A, void > (*do_something_func)(boost::array<array_type::index,numdims>, array_type > &) > ) > { > boost::array<array_type::index,numdims> idx; > > //reset idx to zeros > for (int dim = 0; dim < numdims; dim++) > { > idx[dim] = 0; > } > > bool done = false; > > //this loop considers idx as a base:cells_per_dim number, where > idx[i] is a digit > // and counts from 00000 to the maximum... Calling > do_something_func on the whole grid. > while(!done) > { > do_something_func(idx,A); > > // increment the first dimension every time. > idx[numdims1]++; > > // check all other dimensions for overflow, propagate the carry. > for (int dim = numdims1; dim >= 0 ; dim) > { > // overflow this dimension, 'carry' over to the next > dimension. > if (idx[dim] >= cells_per_dim) > { > idx[dim] = 0; > idx[dim1]++; > } > > // if the final dimension is past the final cell number, > finish > if (idx[0] >= cells_per_dim) > { > done = true; > break; > } > } > } > > return; > } > > > > Original Message > From: Phil [mailto:sammons@...] > Sent: Friday, 30 June 2006 3:26 PM > To: Ben Upcroft > Cc: Bertrand Douillard; Lee Ling (Sharon) Ong; Matt Ridley; 'Paul > Thompson'; > Suresh Kumar; Tim Bailey; Tobias Kaupp; Alex Makarenko; Ryan Cross > Subject: Re: Fwd: Spasm 2.0 > > Hi Ben, > > This sounds like a good plan. > > I have managed to get some grid based Bayesian stuff working to some > extent. > In the coming weeks I hope to start refining it a little and moving it > into a more spasm like structure. I am a little unfamiliar with the > template structure that spasm is using so I'll have to some more learning > on > that side. What changed will be made if we move away from templates to an > inference model? > > also, to enable me to do some calculations, I have added the following > line > to my /ulapack/matrix_types.hpp to enable me to use 4 Dimensional > matrices. > Is there an obvious and better way of doing this so I do not have to > change > uLapack? > > typedef ublas::matrix<ublas::matrix<double, ublas::column_major>, > ublas::column_major> Matrix4d; > > Cheers > Phil > > Ben Upcroft wrote: > > Has everyone signed up to the mailing list? If you didn't get the > > message below and wish to get similar messages, please sign up. > > > > Ben > > > >  Forwarded Message  > > > > Subject: Spasm 2.0 > > Date: Friday 30 June 2006 10:08 > > From: Matthew Ridley <mridley@...> > > To: spasmdevel@... > > Cc: Ben Upcroft <b.upcroft@...> > > > > I wanted to kick off some discussion with regards to what we want > > spasm 2.0 to look like. > > > > some of my thoughts are: > > > >  Remove Particles from PDF, i.e. create a Sample/WeightedSample class > > and associated utilities. > >  Make conversion between PDF types use global functions, this means > > that these are independent of class definitions. > >  spasmfilters to use inheritance instead of templates for various > > PDF types. > > > >  spasmgl for rending PDF's in OpenGL ? > > > > Ben: is everyone on the list yet ? > > > > Matt > >  > > > >  > > > > > > > > > > >  > > Using Tomcat but need to do more? Need to support web services, security? > Get stuff done quickly with preintegrated technology to make your job > easier > Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo > http://sel.asus.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 > > >  > > _______________________________________________ > Spasmdevel mailing list > Spasmdevel@... > https://lists.sourceforge.net/lists/listinfo/spasmdevel > > > End of Spasmdevel Digest, Vol 2, Issue 1 > ***************************************** > 
From: Norman A. Bates <nbates@ba...>  20060630 12:15:37

Matt, I've spent a lot of time with SPASM; it's impressive and I think it has a lot of potential, but I've not yet been able to achieve the performance/quality I need in analysis. Perhaps, that's on my end with some lack of understanding with the tool and/or improper configuration values. My home grown tracking software works better and I don't think that should be the case. Thanks for working on a 2.0 version and here is my wish list! Documentation with detailed explanation of SPASM's framework, components, models, methods, parameters, and their relationships to one and other. Plenty of usable examples solving a variety of realworld problems, including adaptivehybrid and composite filters. For example, I'm interested in realtime linear and nonlinear path tracking, prediction and the smoothing of stochastic signals that contain gaussian addative noise (but not plane trajectory modeling or GPS synchronization). Explanation of why and how to configure and interpret the parameters of the state transition model, process noise model, observation model, and the rest (with configuration, initialization, and manipulation helper functions). Velocity and acceleration are used quite a bit; it would be nice to have functions/objects, which encapsulate these and other values of importance on and across multiple scales concurrently. Likelihood is very powerful and should be improved, evolved and explained. Filterbank is also a great concept and powerful feature that can evolve, should be documented, and could be a showcase for advancedcomplex filtering and the software's analysis framework. Operational performance is slow in critical areas and should be tweaked, tuned and enhanced. Best Regards, Norman Bates 
From: Paul Thompson <p.thompson@ca...>  20060630 07:20:09

Phil, There's boost::multi_array, which is templated by the number of dimensions. Construction with different numbers of cells in each dimension, and iterating over the cells are helped using boost::array This allows one to write _dimensionindependent code_ . This would seem to be more flexible than matrices of matrices or vectors of vectors of vectors... Perhaps this would be a good base for the spasm discrete grid stuff. I'm not actually working with discrete grids, so this never progressed beyond looking at the multidimensional array iteration. Hope it helps. Paul Thompson. #include "boost/multi_array.hpp" #include <cassert> #include <cmath> ... //construction of multidimensional array, const int numdims = 4; const int cells_per_dim = 20; typedef double valuetype; typedef boost::multi_array<valuetype, numdims> array_type; boost::array<array_type::index, numdims> shape; shape[0] = 10; shape[1] = 11; shape[2] = 12; shape[3] = 14; //size of the dimensions //construct the multidim array (10 x 11 x 12 x 14 4 dimensional array !) array_type A(shape); boost::array<array_type::index,numdims> idx; idx[0] = 5; idx[1] = 6; idx[2] = 7; idx[3] = 8; //set the (5,6,7,8) entry in the matrix: A(idx) = 0.0; The boost::array idx can be used to iterate over the matrix: void iterate_multidimarray_do_something_func( int numdims, int cells_per_dim, array_type &A, void (*do_something_func)(boost::array<array_type::index,numdims>, array_type &) ) { boost::array<array_type::index,numdims> idx; //reset idx to zeros for (int dim = 0; dim < numdims; dim++) { idx[dim] = 0; } bool done = false; //this loop considers idx as a base:cells_per_dim number, where idx[i] is a digit // and counts from 00000 to the maximum... Calling do_something_func on the whole grid. while(!done) { do_something_func(idx,A); // increment the first dimension every time. idx[numdims1]++; // check all other dimensions for overflow, propagate the carry. for (int dim = numdims1; dim >= 0 ; dim) { // overflow this dimension, 'carry' over to the next dimension. if (idx[dim] >= cells_per_dim) { idx[dim] = 0; idx[dim1]++; } // if the final dimension is past the final cell number, finish if (idx[0] >= cells_per_dim) { done = true; break; } } } return; } Original Message From: Phil [mailto:sammons@...] Sent: Friday, 30 June 2006 3:26 PM To: Ben Upcroft Cc: Bertrand Douillard; Lee Ling (Sharon) Ong; Matt Ridley; 'Paul Thompson'; Suresh Kumar; Tim Bailey; Tobias Kaupp; Alex Makarenko; Ryan Cross Subject: Re: Fwd: Spasm 2.0 Hi Ben, This sounds like a good plan. I have managed to get some grid based Bayesian stuff working to some extent. In the coming weeks I hope to start refining it a little and moving it into a more spasm like structure. I am a little unfamiliar with the template structure that spasm is using so I'll have to some more learning on that side. What changed will be made if we move away from templates to an inference model? also, to enable me to do some calculations, I have added the following line to my /ulapack/matrix_types.hpp to enable me to use 4 Dimensional matrices. Is there an obvious and better way of doing this so I do not have to change uLapack? typedef ublas::matrix<ublas::matrix<double, ublas::column_major>, ublas::column_major> Matrix4d; Cheers Phil Ben Upcroft wrote: > Has everyone signed up to the mailing list? If you didn't get the > message below and wish to get similar messages, please sign up. > > Ben > >  Forwarded Message  > > Subject: Spasm 2.0 > Date: Friday 30 June 2006 10:08 > From: Matthew Ridley <mridley@...> > To: spasmdevel@... > Cc: Ben Upcroft <b.upcroft@...> > > I wanted to kick off some discussion with regards to what we want > spasm 2.0 to look like. > > some of my thoughts are: > >  Remove Particles from PDF, i.e. create a Sample/WeightedSample class > and associated utilities. >  Make conversion between PDF types use global functions, this means > that these are independent of class definitions. >  spasmfilters to use inheritance instead of templates for various > PDF types. > >  spasmgl for rending PDF's in OpenGL ? > > Ben: is everyone on the list yet ? > > Matt >  > >  > > 
From: Matthew Ridley <mridley@me...>  20060630 00:09:12

I wanted to kick off some discussion with regards to what we want spasm 2.0 to look like. some of my thoughts are:  Remove Particles from PDF, i.e. create a Sample/WeightedSample class and associated utilities.  Make conversion between PDF types use global functions, this means that these are independent of class definitions.  spasmfilters to use inheritance instead of templates for various PDF types.  spasmgl for rending PDF's in OpenGL ? Ben: is everyone on the list yet ? Matt  
From: Ryan Cross <ryan.cross@st...>  20060619 03:59:06

Working... 1.2.3 =) Original Message From: spasmdevelbounces@... [mailto:spasmdevelbounces@...] On Behalf Of Matthew Ridley Sent: Monday, 19 June 2006 7:59 AM To: spasmdevel@... Subject: [Spasmdevel] Testing 1..2..3.. Testing 1.2.3. _______________________________________________ Spasmdevel mailing list Spasmdevel@... https://lists.sourceforge.net/lists/listinfo/spasmdevel 
From: Matthew Ridley <mridley@me...>  20060618 21:59:29

Testing 1.2.3. 
From: Norman A. Bates <nbates@ba...>  20060613 11:46:38

I appreciate the SPASM contribution here at sourceforge, the software = looks very interesting!=20 =20 Could anyone please send me (nbates@...) the .txt files = generated by MATLAB so I can run the tests?=20 =20 Thanks,=20 Norman 
From: Ben Upcroft <upcroft@ma...>  20060612 06:49:44

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