LocalizationParticle Class Reference

Each Particle represents a hypothesis about the robot's 2D position and heading. More...

#include <LocalizationParticle.h>

Inheritance diagram for LocalizationParticle:

[legend]

---

Detailed Description

Each Particle represents a hypothesis about the robot's 2D position and heading.

Definition at line 13 of file LocalizationParticle.h.

List of all members.

Public Types
typedef LocalizationParticleDistributionPolicy < LocalizationParticle >	DistributionPolicy
	defines a default DistributionPolicy for the particle type
Public Member Functions
	LocalizationParticle ()
	constructor
	LocalizationParticle (float xp, float yp, AngTwoPi tp)
	constructor, allows you to define the particle's position
float	sumSqErr (const LocalizationParticle &lp) const
	returns a straightforward sum squared error of each of the fields
Public Attributes
float	x
	X position of robot in the world.
float	y
	Y position of robot in the world.
AngTwoPi	theta
	Orientation of robot in world.

---

Member Typedef Documentation

typedef LocalizationParticleDistributionPolicy<LocalizationParticle> LocalizationParticle::DistributionPolicy

defines a default DistributionPolicy for the particle type

Reimplemented in DualCoding::ShapeSLAMParticle.

Definition at line 20 of file LocalizationParticle.h.

---

Constructor & Destructor Documentation

LocalizationParticle::LocalizationParticle

(

)

constructor

Definition at line 23 of file LocalizationParticle.h.

LocalizationParticle::LocalizationParticle	(	float	xp,
		float	yp,
		AngTwoPi	tp
	)

constructor, allows you to define the particle's position

Definition at line 26 of file LocalizationParticle.h.

---

Member Function Documentation

float LocalizationParticle::sumSqErr

(

const LocalizationParticle &

lp

)

const [virtual]

returns a straightforward sum squared error of each of the fields

Implements ParticleBase< LocalizationParticle >.

Definition at line 29 of file LocalizationParticle.h.

---

Member Data Documentation

AngTwoPi LocalizationParticle::theta

Orientation of robot in world.

Definition at line 17 of file LocalizationParticle.h.

Referenced by DualCoding::ShapeBasedParticleFilter::computeVariance(), LocalShapeEvaluator::evaluateWorkhorse(), operator<<(), projectShapeToCamera(), sumSqErr(), and DualCoding::ShapeBasedParticleFilter::synchEstimateToAgent().

float LocalizationParticle::x

X position of robot in the world.

Definition at line 15 of file LocalizationParticle.h.

Referenced by DualCoding::ShapeBasedParticleFilter::computeVariance(), LocalShapeEvaluator::evaluateWorkhorse(), operator<<(), projectShapeToCamera(), sumSqErr(), and DualCoding::ShapeBasedParticleFilter::synchEstimateToAgent().

float LocalizationParticle::y

Y position of robot in the world.

Definition at line 16 of file LocalizationParticle.h.

Referenced by DualCoding::ShapeBasedParticleFilter::computeVariance(), LocalShapeEvaluator::evaluateWorkhorse(), operator<<(), projectShapeToCamera(), sumSqErr(), and DualCoding::ShapeBasedParticleFilter::synchEstimateToAgent().

---

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

• LocalizationParticle.h