:orphan:

:mod:`torchfilter.data._particle_filter_measurement_dataset`
============================================================

.. py:module:: torchfilter.data._particle_filter_measurement_dataset

.. autoapi-nested-parse::

   Private module; avoid importing from directly.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   torchfilter.data._particle_filter_measurement_dataset.ParticleFilterMeasurementDataset



.. py:class:: ParticleFilterMeasurementDataset(trajectories: List[types.TrajectoryNumpy], *, covariance: np.ndarray, samples_per_pair: int, **kwargs)

   Bases: :class:`torch.utils.data.Dataset`

   .. autoapi-inheritance-diagram:: torchfilter.data._particle_filter_measurement_dataset.ParticleFilterMeasurementDataset
      :parts: 1

   A dataset interface for pre-training particle filter measurement models.

   Centers Gaussian distributions around our ground-truth states, and provides examples
   for learning the log-likelihood.

   :param trajectories: List of trajectories.
   :type trajectories: List[torchfilter.types.TrajectoryNumpy]

   :keyword covariance: Covariance of Gaussian PDFs.
   :kwtype covariance: np.ndarray
   :keyword samples_per_pair: Number of training examples to provide for each
                              state/observation pair. Half of these will typically be generated close
                              to the example, and the other half far away.
   :kwtype samples_per_pair: int

   .. method:: __getitem__(self, index) -> Tuple[types.StatesNumpy, types.ObservationsNumpy, np.ndarray]

      Get a state/observation/log-likelihood sample from our dataset. Nominally, we
      want our measurement model to predict the returned log-likelihood as the PDF of
      the ``p(observation | state)`` distribution.

      :param index: Subsequence number in our dataset.
      :type index: int

      :returns: *tuple* -- ``(state, observation, log-likelihood)`` tuple.


   .. method:: __len__(self) -> int

      Total number of samples in the dataset.

      :returns: *int* -- Length of dataset.