DualCoding::ShapeSLAMParticle Class Reference

Each Particle represents a hypothesis about the match of the local map to the world map, considering changes to the map. More...

#include <ShapeSLAMParticleFilter.h>

Inheritance diagram for DualCoding::ShapeSLAMParticle:

[legend]

Detailed Description

Each Particle represents a hypothesis about the match of the local map to the world map, considering changes to the map.

Only handles adding or removing landmarks, not moving existing landmarks. (A move can be modeled as an addition plus a deletion, but there will be two penalties to pay.)

Note that the particle evaluation doesn't modify the world map, only tracks suggestions about what should be changed.

The size of addLocal and deleteWorld may not exactly match the number of current local or world landmarks -- the SensorModel is lazy about resizing for efficiency reasons.

Definition at line 27 of file ShapeSLAMParticleFilter.h.

List of all members.

Public Types
typedef LocalizationParticleDistributionPolicy < ShapeSLAMParticle >	DistributionPolicy
	Defines a default DistributionPolicy for the particle type (just reuse the same one as LocalizationParticle).
Public Member Functions
	ShapeSLAMParticle ()
	Constructor.
Public Attributes
std::vector< bool >	addLocal
	true for local landmarks missing from the world map
std::vector< bool >	deleteWorld
	true for world landmarks missing from the local map