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DualCoding::ShapeSLAMParticleFilter Class Reference

bundles a DeadReckoning motion model and a ShapeSLAMSensorModel for easy use of a shape-based particle filter for mapping and localization More...

#include <ShapeSLAMParticleFilter.h>

Inheritance diagram for DualCoding::ShapeSLAMParticleFilter:

Detailed Description

bundles a DeadReckoning motion model and a ShapeSLAMSensorModel for easy use of a shape-based particle filter for mapping and localization

Definition at line 123 of file ShapeSLAMParticleFilter.h.

List of all members.

Public Member Functions

 ShapeSLAMParticleFilter (ShapeSpace &localShS, ShapeSpace &worldShS, unsigned int numParticles=2000)
 constructor, must pass local and world shape spaces, which will be used in future calls to update()
virtual ~ShapeSLAMParticleFilter ()
 destructor
virtual void update (bool updateMot=true, bool doResample=true)
 update, triggers a particle filter update using the embedded sensorModel
virtual ShapeSLAMSensorModel
< ShapeSLAMParticle > & 
getSensorModel () const
 accessor for sensorModel
virtual void setSensorModel (ShapeSLAMSensorModel< ShapeSLAMParticle > *customSensorModel)
 replaces the sensor model in use, the particle filter will take responsibility for deallocating the sensor model's memory when destructed or replaced
virtual void setAgent () const
 updates the mapbuilder's agent's position on worldShS
virtual void displayParticles (float const howmany=100) const
 Currently not working for SLAM particles, but should display particles on the world map; howmany can either be a percentage (<= 1.0) or a whole number.

Protected Attributes

ShapeSLAMSensorModel
< ShapeSLAMParticle > * 
sensorModel
 provides evaluation of particles

Private Member Functions

 ShapeSLAMParticleFilter (const ShapeSLAMParticleFilter &)
 don't call (copy constructor)
ShapeSLAMParticleFilteroperator= (const ShapeSLAMParticleFilter &)
 don't call (assignment operator)

Constructor & Destructor Documentation

DualCoding::ShapeSLAMParticleFilter::ShapeSLAMParticleFilter ( ShapeSpace &  localShS,
ShapeSpace &  worldShS,
unsigned int  numParticles = 2000 
)

constructor, must pass local and world shape spaces, which will be used in future calls to update()

Definition at line 126 of file ShapeSLAMParticleFilter.h.

virtual DualCoding::ShapeSLAMParticleFilter::~ShapeSLAMParticleFilter (  )  [virtual]

destructor

Definition at line 134 of file ShapeSLAMParticleFilter.h.

DualCoding::ShapeSLAMParticleFilter::ShapeSLAMParticleFilter ( const ShapeSLAMParticleFilter  )  [private]

don't call (copy constructor)


Member Function Documentation

void DualCoding::ShapeSLAMParticleFilter::displayParticles ( float const   howmany = 100  )  const [virtual]

Currently not working for SLAM particles, but should display particles on the world map; howmany can either be a percentage (<= 1.0) or a whole number.

Definition at line 127 of file ShapeSLAMParticleFilter.cc.

virtual ShapeSLAMSensorModel<ShapeSLAMParticle>& DualCoding::ShapeSLAMParticleFilter::getSensorModel (  )  const [virtual]

accessor for sensorModel

Definition at line 147 of file ShapeSLAMParticleFilter.h.

ShapeSLAMParticleFilter& DualCoding::ShapeSLAMParticleFilter::operator= ( const ShapeSLAMParticleFilter  )  [private]

don't call (assignment operator)

void DualCoding::ShapeSLAMParticleFilter::setAgent (  )  const [virtual]

updates the mapbuilder's agent's position on worldShS

Definition at line 120 of file ShapeSLAMParticleFilter.cc.

virtual void DualCoding::ShapeSLAMParticleFilter::setSensorModel ( ShapeSLAMSensorModel< ShapeSLAMParticle > *  customSensorModel  )  [virtual]

replaces the sensor model in use, the particle filter will take responsibility for deallocating the sensor model's memory when destructed or replaced

Definition at line 150 of file ShapeSLAMParticleFilter.h.

virtual void DualCoding::ShapeSLAMParticleFilter::update ( bool  updateMot = true,
bool  doResample = true 
) [virtual]

update, triggers a particle filter update using the embedded sensorModel

Definition at line 144 of file ShapeSLAMParticleFilter.h.


Member Data Documentation


The documentation for this class was generated from the following files:

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