ParticleFilter< ParticleT >::ResamplingPolicy Class Reference
The resampling policy focuses the particle filter on those particles which are performing well, and dropping those which are poorly rated. More...
#include <ParticleFilter.h>
Detailed Description
template<typename ParticleT>
class ParticleFilter< ParticleT >::ResamplingPolicy
The resampling policy focuses the particle filter on those particles which are performing well, and dropping those which are poorly rated.
Resampling should replicate particles proportionally to how well their weights compare to other particles in the filter. The process is similar to a genetic algorithm. This process typically does not vary between applications, so you will probably want to use the supplied LowVarianceResamplingPolicy, and simply tweak parameters as needed.
The ResamplingPolicy interface includes a DistributionPolicy so particles can be randomly generated or modified in an abstract manner.
Definition at line 215 of file ParticleFilter.h.
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 | |
| ResamplingPolicy () | |
| constructor, creates a DistributionPolicy based on the particle_type's own DistributionPolicy typedef | |
| ResamplingPolicy (DistributionPolicy *distPolicy) | |
| constructor, pass your own custom distribution policy (responsibility for deallocation is assumed by the ResamplingPolicy) | |
| virtual | ~ResamplingPolicy () |
| destructor | |
| virtual void | resample (particle_collection &particles)=0 |
| the particle filter will call resample() when the particles have been evaluated and are ready to be selected | |
| virtual void | setDistributionPolicy (DistributionPolicy *distPolicy) |
| replaces dist with a new distribution policy. If you pass NULL, dist will be reset to the particle_type's default distribution policy, as specified by a 'DistributionPolicy' typedef within the particle class | |
| virtual DistributionPolicy & | getDistributionPolicy () const |
| returns the currently active distribution policy (dist) | |
Protected Attributes | |
| DistributionPolicy * | dist |
| a pointer to the current distribution policy, which cannot be NULL | |
Private Member Functions | |
| ResamplingPolicy (const ResamplingPolicy &rp) | |
| copy unsupported | |
| ResamplingPolicy & | operator= (const ResamplingPolicy &rp) |
| assignment unsupported | |
Member Typedef Documentation
| typedef particle_collection::size_type ParticleFilter< ParticleT >::ResamplingPolicy::index_t |
index type for refering to particles within the collection
Definition at line 219 of file ParticleFilter.h.
| typedef std::vector<particle_type> ParticleFilter< ParticleT >::ResamplingPolicy::particle_collection |
the collection type we'll be using to store the particles
Definition at line 218 of file ParticleFilter.h.
| typedef ParticleT ParticleFilter< ParticleT >::ResamplingPolicy::particle_type |
redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef
Definition at line 217 of file ParticleFilter.h.
Constructor & Destructor Documentation
| ParticleFilter< ParticleT >::ResamplingPolicy::ResamplingPolicy | ( | ) |
constructor, creates a DistributionPolicy based on the particle_type's own DistributionPolicy typedef
Definition at line 222 of file ParticleFilter.h.
| ParticleFilter< ParticleT >::ResamplingPolicy::ResamplingPolicy | ( | DistributionPolicy * | distPolicy | ) | [explicit] |
constructor, pass your own custom distribution policy (responsibility for deallocation is assumed by the ResamplingPolicy)
Definition at line 224 of file ParticleFilter.h.
| virtual ParticleFilter< ParticleT >::ResamplingPolicy::~ResamplingPolicy | ( | ) | [virtual] |
destructor
Definition at line 226 of file ParticleFilter.h.
| ParticleFilter< ParticleT >::ResamplingPolicy::ResamplingPolicy | ( | const ResamplingPolicy & | rp | ) | [private] |
copy unsupported
Member Function Documentation
| virtual DistributionPolicy& ParticleFilter< ParticleT >::ResamplingPolicy::getDistributionPolicy | ( | ) | const [virtual] |
returns the currently active distribution policy (dist)
Definition at line 235 of file ParticleFilter.h.
Referenced by ParticleFilter< LocalizationParticle >::resetFilter(), ParticleFilter< LocalizationParticle >::resizeParticles(), and ParticleFilter< LocalizationParticle >::setPosition().
| ResamplingPolicy& ParticleFilter< ParticleT >::ResamplingPolicy::operator= | ( | const ResamplingPolicy & | rp | ) | [private] |
assignment unsupported
| virtual void ParticleFilter< ParticleT >::ResamplingPolicy::resample | ( | particle_collection & | particles | ) | [pure virtual] |
the particle filter will call resample() when the particles have been evaluated and are ready to be selected
Implemented in ParticleFilter< ParticleT >::LowVarianceResamplingPolicy.
Referenced by ParticleFilter< LocalizationParticle >::resample().
| virtual void ParticleFilter< ParticleT >::ResamplingPolicy::setDistributionPolicy | ( | DistributionPolicy * | distPolicy | ) | [virtual] |
replaces dist with a new distribution policy. If you pass NULL, dist will be reset to the particle_type's default distribution policy, as specified by a 'DistributionPolicy' typedef within the particle class
Definition at line 230 of file ParticleFilter.h.
Member Data Documentation
DistributionPolicy* ParticleFilter< ParticleT >::ResamplingPolicy::dist [protected] |
a pointer to the current distribution policy, which cannot be NULL
Definition at line 238 of file ParticleFilter.h.
Referenced by ParticleFilter< ParticleT >::ResamplingPolicy::getDistributionPolicy(), ParticleFilter< ParticleT >::LowVarianceResamplingPolicy::resample(), ParticleFilter< ParticleT >::ResamplingPolicy::setDistributionPolicy(), and ParticleFilter< ParticleT >::ResamplingPolicy::~ResamplingPolicy().
The documentation for this class was generated from the following file:
