DualCoding::ShapeSLAMSensorModel< ParticleT > Class Template Reference
this wraps the ShapeSLAMParticleEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter More...
#include <ShapeSLAMParticleFilter.h>
Detailed Description
template<typename ParticleT>
class DualCoding::ShapeSLAMSensorModel< ParticleT >
this wraps the ShapeSLAMParticleEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter
see ShapeSensorModel for discussion of architectural issues vs separation of ShapeSLAMParticleEvaluator
Definition at line 65 of file ShapeSLAMParticleFilter.h.
Public Types | |
| typedef ParticleFilter < ParticleT > ::SensorModel::particle_type | particle_type |
| convenience typedef | |
| typedef ParticleFilter < ParticleT > ::SensorModel::particle_collection | particle_collection |
| convenience typedef | |
| typedef ParticleFilter < ParticleT > ::SensorModel::index_t | index_t |
| convenience typedef | |
Public Member Functions | |
| ShapeSLAMSensorModel (ShapeSpace &localShS, ShapeSpace &worldShS) | |
| constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly | |
| virtual void | evaluate (particle_collection &particles, particle_type &estimate) |
| applies the ShapeSLAMParticleEvaluator across a collection of particles | |
| ShapeSpace & | getLocalShS () const |
| ShapeSpace & | getWorldShS () const |
Public Attributes | |
| float | stdevSq |
| controls how much weight is given to "near-misses" | |
| float | addPenalty |
| controls how readily new landmarks are added to the map, vs. penalizing the particle for a bad match | |
Protected Member Functions | |
| float | normpdf (float const distsq) |
| computes a (non-normalized) gaussian distribution | |
Protected Attributes | |
| ShapeSpace & | lShS |
| Local shape space. | |
| ShapeSpace & | wShS |
| World shape space. | |
| unsigned int | particleLocalLandmarks |
| number of entries in particles' individual addLocal (so we know if we need to resize it in all particles) | |
| unsigned int | particleWorldLandmarks |
| number of entries in particles' individual deleteWorld (so we know if we need to resize it in all particles) | |
Member Typedef Documentation
| typedef ParticleFilter<ParticleT>::SensorModel::index_t DualCoding::ShapeSLAMSensorModel< ParticleT >::index_t |
convenience typedef
Reimplemented from ParticleFilter< ParticleT >::SensorModel.
Definition at line 69 of file ShapeSLAMParticleFilter.h.
| typedef ParticleFilter<ParticleT>::SensorModel::particle_collection DualCoding::ShapeSLAMSensorModel< ParticleT >::particle_collection |
convenience typedef
Reimplemented from ParticleFilter< ParticleT >::SensorModel.
Definition at line 68 of file ShapeSLAMParticleFilter.h.
| typedef ParticleFilter<ParticleT>::SensorModel::particle_type DualCoding::ShapeSLAMSensorModel< ParticleT >::particle_type |
convenience typedef
Reimplemented from ParticleFilter< ParticleT >::SensorModel.
Definition at line 67 of file ShapeSLAMParticleFilter.h.
Constructor & Destructor Documentation
| DualCoding::ShapeSLAMSensorModel< ParticleT >::ShapeSLAMSensorModel | ( | ShapeSpace & | localShS, | |
| ShapeSpace & | worldShS | |||
| ) |
constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly
Definition at line 72 of file ShapeSLAMParticleFilter.h.
Member Function Documentation
| virtual void DualCoding::ShapeSLAMSensorModel< ParticleT >::evaluate | ( | particle_collection & | particles, | |
| particle_type & | estimate | |||
| ) | [virtual] |
applies the ShapeSLAMParticleEvaluator across a collection of particles
Definition at line 83 of file ShapeSLAMParticleFilter.h.
| ShapeSpace& DualCoding::ShapeSLAMSensorModel< ParticleT >::getLocalShS | ( | ) | const |
Definition at line 103 of file ShapeSLAMParticleFilter.h.
| ShapeSpace& DualCoding::ShapeSLAMSensorModel< ParticleT >::getWorldShS | ( | ) | const |
Definition at line 104 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMParticleFilter::displayParticles().
| float DualCoding::ShapeSLAMSensorModel< ParticleT >::normpdf | ( | float const | distsq | ) | [protected] |
computes a (non-normalized) gaussian distribution
normalization doesn't matter because it's constant across particles, and so doesn't matter for purposes of comparison between particles
Definition at line 116 of file ShapeSLAMParticleFilter.h.
Member Data Documentation
| float DualCoding::ShapeSLAMSensorModel< ParticleT >::addPenalty |
controls how readily new landmarks are added to the map, vs. penalizing the particle for a bad match
Definition at line 80 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::evaluate().
ShapeSpace& DualCoding::ShapeSLAMSensorModel< ParticleT >::lShS [protected] |
Local shape space.
Definition at line 107 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::evaluate(), and DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::getLocalShS().
unsigned int DualCoding::ShapeSLAMSensorModel< ParticleT >::particleLocalLandmarks [protected] |
number of entries in particles' individual addLocal (so we know if we need to resize it in all particles)
Definition at line 110 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::evaluate().
unsigned int DualCoding::ShapeSLAMSensorModel< ParticleT >::particleWorldLandmarks [protected] |
number of entries in particles' individual deleteWorld (so we know if we need to resize it in all particles)
Definition at line 111 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::evaluate().
| float DualCoding::ShapeSLAMSensorModel< ParticleT >::stdevSq |
controls how much weight is given to "near-misses"
Definition at line 78 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::normpdf().
ShapeSpace& DualCoding::ShapeSLAMSensorModel< ParticleT >::wShS [protected] |
World shape space.
Definition at line 108 of file ShapeSLAMParticleFilter.h.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::evaluate(), and DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::getWorldShS().
The documentation for this class was generated from the following file:
