LocalShapeEvaluator Class Reference

Provides evaluation of the match between local or camera and world given a candidate particle. More...

#include <ShapeSensorModel.h>

Inheritance diagram for LocalShapeEvaluator:

Detailed Description

Provides evaluation of the match between local or camera and world given a candidate particle.

The reason for separating LocalShapeEvaluator and ShapeSensorModel? Partly so the fairly lengthy evaluation code can go in the .cc file to avoid repeated recompilation, but also to allow inheritance (e.g. ShapeSLAMParticleEvaluator) as a clean way to extend the evaluation code for particle sub-types.

Definition at line 21 of file ShapeSensorModel.h.

List of all members.

Public Member Functions
	LocalShapeEvaluator (DualCoding::ShapeSpace &localShS, DualCoding::ShapeSpace &worldShS)
	constructor, pass the local and world shape spaces, these will be used to initialize the appropriate particle-independent fields of the class
virtual	~LocalShapeEvaluator ()
	destructor
void	evaluate (LocalizationParticle &part)
	the heart of the class, call with a particle, will adjust the weight
void	evaluateWorkhorse (LocalizationParticle &p, const unsigned int nLocals, float particleViewX[], float particleViewY[], float particleViewX2[], float ParticleViewY2[], int localMatches[], float localScores[])
	the real work is done here; shared with SLAM version
void	updateWeight (LocalizationParticle &p, int const localMatches[], float const localScores[])
	update the particle weight after computing local match scores (and possibly additions/deletions if SLAM)
float	normpdf (float const distsq)
Static Public Member Functions
static float	distanceFromLine (coordinate_t x0, coordinate_t y0, PfLine &wline)
	helper function which calculates the distance between a point and a line along a perpendicular
Public Attributes
std::vector< PfRoot * >	localLms
	a vector of the landmarks in the local space
std::vector< PfRoot * >	worldLms
	a vector of landmarks in the world space
Static Public Attributes
static float const	maxDist = 1e10
	maximum distance for a landmark to be useful in distance error calculation; value should be < 1e10
static float const	stdevSq = 150*150
	controls how much weight is given to "near-misses"

Constructor & Destructor Documentation

LocalShapeEvaluator::LocalShapeEvaluator	(	DualCoding::ShapeSpace &	localShS,
		DualCoding::ShapeSpace &	worldShS
	)

constructor, pass the local and world shape spaces, these will be used to initialize the appropriate particle-independent fields of the class

virtual LocalShapeEvaluator::~LocalShapeEvaluator ( ) [virtual]

destructor

Definition at line 25 of file ShapeSensorModel.h.

Member Function Documentation

float LocalShapeEvaluator::distanceFromLine	(	coordinate_t	x0,
		coordinate_t	y0,
		PfLine &	wline
	)			`[static]`

helper function which calculates the distance between a point and a line along a perpendicular

computes a (non-normalized) gaussian distribution

Definition at line 193 of file ShapeSensorModel.cc.

void LocalShapeEvaluator::evaluate ( LocalizationParticle & part )

the heart of the class, call with a particle, will adjust the weight

Definition at line 28 of file ShapeSensorModel.cc.

Referenced by ShapeSensorModel< LocalizationParticle >::updateFromLocal().

void LocalShapeEvaluator::evaluateWorkhorse	(	LocalizationParticle &	p,
		const unsigned int	nLocals,
		float	particleViewX[],
		float	particleViewY[],
		float	particleViewX2[],
		float	ParticleViewY2[],
		int	localMatches[],
		float	localScores[]
	)