Merge pull request #366 from JuliaRobotics/hotfix/3Q19/bssNaN

prevent bss sampler from letting NaN through
JuliaRobotics · Aug 5, 2019 · a9be75c · a9be75c
2 parents 2522145 + 2a92650
commit a9be75c
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/AliasScalarSampling.jl b/src/AliasScalarSampling.jl
@@ -18,9 +18,12 @@ struct AliasingScalarSampler
     pxf = Float64.(p_x)
     pxf[pxf.<0.0] .= 0.0 # no negative values!
     pxf ./=sum(pxf)  # must sum to 1
-    pxf .-= quantile(pxf,SNRfloor) # remove lowest quantile
+    pxf2 = pxf .- quantile(pxf,SNRfloor) # remove lowest quantile
+    pxf2s = sum(pxf2)
+    pxf[:] = 1e-10 < pxf2s ? pxf2 : pxf
     pxf[pxf.<0.0] .= 0.0
-    pxf ./=sum(pxf)
+    pxf ./= sum(pxf)
+    sum(isnan.(pxf)) == 0 ? nothing : error("AliasingScalarSampler got NaN because of particular values in p_x")
     wim = StatsBase.ProbabilityWeights(pxf)
     new(x, wim)
   end