ParticleFilter< ParticleT >::MotionModel Class Reference

A motion model is retained by the particle filter to query before evaluating sensor measurements so all known influences are accounted for before testing the particles. More...

#include <ParticleFilter.h>

Inheritance diagram for ParticleFilter< ParticleT >::MotionModel:

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Detailed Description

template<typename ParticleT>
class ParticleFilter< ParticleT >::MotionModel

A motion model is retained by the particle filter to query before evaluating sensor measurements so all known influences are accounted for before testing the particles.

It's a good idea to apply noise to the motion model depending on the precision of the model. This allows the particle cluster to spread over time until new information is obtained to to evaluate how accurate the motion really was, at which point resampling will collapse the cluster back down again.

Definition at line 156 of file ParticleFilter.h.

List of all members.

Public Types
typedef ParticleT	particle_type
	redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef
typedef std::vector < particle_type >	particle_collection
	the collection type we'll be using to store the particles
typedef particle_collection::size_type	index_t
	index type for refering to particles within the collection
Public Member Functions
virtual	~MotionModel ()
	destructor
virtual void	updateMotion (particle_collection &particles, particle_type &estimate)=0
	The particle filter will call these when it wants to update particle state values to account for known influences.