Skip to content

Initialize hyperhemispherical particle filter on valid manifold points #5342

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
FlorianPfaff wants to merge 2 commits into from
+13 −5
Closed

Initialize hyperhemispherical particle filter on valid manifold points #5342

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
bbf263d
Initialize hyperhemispherical particles on manifold
FlorianPfaff Aug 18, 2026
4a3ccda
Add hyperhemispherical initialization regression
FlorianPfaff Aug 18, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 3 additions & 4 deletions src/pyrecest/filters/hyperhemispherical_particle_filter.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
from numbers import Integral

from pyrecest.backend import empty
from pyrecest.backend import eye, tile
from pyrecest.distributions.hypersphere_subset.abstract_hyperhemispherical_distribution import (
AbstractHyperhemisphericalDistribution,
)
Expand Down Expand Up @@ -34,9 +34,8 @@ def __init__(self, n_particles: int, dim: int) -> None:
"""
n_particles = _validate_positive_integer(n_particles, "n_particles")
dim = _validate_positive_integer(dim, "dim")
initial_filter_state = HyperhemisphericalDiracDistribution(
empty((n_particles, dim + 1))
)
initial_particles = tile(eye(dim + 1)[-1], (n_particles, 1))
initial_filter_state = HyperhemisphericalDiracDistribution(initial_particles)
HyperhemisphericalFilterMixin.__init__(self)
AbstractParticleFilter.__init__(self, initial_filter_state=initial_filter_state)

Expand Down
11 changes: 10 additions & 1 deletion tests/filters/test_hyperhemispherical_particle_filter.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
import pyrecest.backend

# pylint: disable=redefined-builtin,no-name-in-module,no-member
from pyrecest.backend import array, linalg, random
from pyrecest.backend import all as backend_all
from pyrecest.backend import allclose, array, linalg, random
from pyrecest.distributions import HyperhemisphericalWatsonDistribution
from pyrecest.distributions.hypersphere_subset.hyperhemispherical_dirac_distribution import (
HyperhemisphericalDiracDistribution,
Expand Down Expand Up @@ -33,6 +34,14 @@ def test_initialization(self):
self.assertEqual(hpf.filter_state.w.shape, (self.n_particles,))
self.assertEqual(hpf.filter_state.d.shape, (self.n_particles, 4))

def test_initialization_uses_valid_upper_hemisphere_points(self):
hpf = HyperhemisphericalParticleFilter(5, 3)

particle_norms = linalg.norm(hpf.filter_state.d, axis=1)
self.assertTrue(bool(allclose(particle_norms, 1.0)))
self.assertTrue(bool(backend_all(hpf.filter_state.d[:, -1] >= 0.0)))
self.assertTrue(bool(allclose(hpf.filter_state.d[:, -1], 1.0)))

def test_constructor_rejects_invalid_particle_count(self):
for n_particles in (True, 0, -1, 1.5):
with self.subTest(n_particles=n_particles):
Expand Down
Loading