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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...
Inheritance diagram for DualCoding::ShapeSLAMParticle:
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.
Member Typedef Documentation
Constructor & Destructor Documentation
Member Data Documentation
true for local landmarks missing from the world map
true for world landmarks missing from the local map
Referenced by DualCoding::ShapeSLAMParticleEvaluator::determineDeletions().
The documentation for this class was generated from the following file:
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