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>
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.
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) | |
| ShapeSLAMParticleFilter & | operator= (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
ShapeSLAMSensorModel<ShapeSLAMParticle>* DualCoding::ShapeSLAMParticleFilter::sensorModel [protected] |
provides evaluation of particles
Definition at line 159 of file ShapeSLAMParticleFilter.h.
Referenced by displayParticles(), getSensorModel(), setSensorModel(), update(), and ~ShapeSLAMParticleFilter().
The documentation for this class was generated from the following files:
