filters.ParticleFilter.bayes(): ignore cond (at least for now)

ChangeLog.rst

@@ -8,6 +8,7 @@ recent versions are mentioned on top.
 Changes between 0.3 and 0.4
 ===========================
 
+* ParticleFilter.bayes() now ignores cond completely. Yell if you need it.
 * ParticleFilter lost last emp_pdf argument. Pass the same object as the init_pdf argument
   to achieve the same thing.
 * Test-suite no longer needs PyBayes to be installed, yay! (no privilege problems etc.)

pybayes/filters.py

@@ -286,7 +286,7 @@ def __init__(self, n, init_pdf, p_xt_xtp, p_yt_xt):
             self.emp = EmpPdf(init_pdf.samples(n))
 
     def bayes(self, yt, cond = None):
-        r"""Perform Bayes rule for new measurement :math:`y_t`.
+        r"""Perform Bayes rule for new measurement :math:`y_t`; *cond* is ignored.
 
         :param numpy.ndarray cond: optional condition that is passed to :math:`p(x_t|x_{t-1})`
           after :math:`x_{t-1}` so that is can be rewritten as: :math:`p(x_t|x_{t-1}, c)`.
@@ -302,11 +302,7 @@ def bayes(self, yt, cond = None):
         """
         for i in range(self.emp.particles.shape[0]):
             # generate new ith particle:
-            if cond is None:
-                aggregate_cond = self.emp.particles[i]
-            else:
-                aggregate_cond = np.concatenate((self.emp.particles[i], cond))
-            self.emp.particles[i] = self.p_xt_xtp.sample(aggregate_cond)
+            self.emp.particles[i] = self.p_xt_xtp.sample(self.emp.particles[i])
 
             # recompute ith weight:
             self.emp.weights[i] *= exp(self.p_yt_xt.eval_log(yt, self.emp.particles[i]))