ShapeSensorModel< ParticleT > Class Template Reference
this wraps the ParticleShapeEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter More...
#include <ShapeSensorModel.h>
Detailed Description
template<typename ParticleT>
class ShapeSensorModel< ParticleT >
this wraps the ParticleShapeEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter
The reason for separating ParticleShapeEvaluator and ShapeSensorModel? Partly so the fairly length evaluation code can go in the .cc file to avoid repeated recompilation, but also to allow inheritance (e.g. SLAMShapesParticleEvaluator) as a clean way to extend the evaluation code for particle sub-types. Ideally, I'd like to combine these classes.
Definition at line 87 of file ShapeSensorModel.h.
Public Types | |
| typedef ParticleFilter < ParticleT > ::SensorModel::index_t | index_t |
| convenience typedef | |
| typedef ParticleFilter < ParticleT > ::SensorModel::particle_collection | particle_collection |
| convenience typedef | |
| typedef ParticleFilter < ParticleT > ::SensorModel::particle_type | particle_type |
| convenience typedef | |
Public Member Functions | |
| ShapeSensorModel (DualCoding::ShapeSpace &camShS, DualCoding::ShapeSpace &localShS, DualCoding::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 ParticleShapeEvaluator across a collection of particles. | |
| virtual void | updateFromLocal (particle_collection &particles, particle_type &estimate) |
| virtual void | updateFromCamera (particle_collection &particles, particle_type &estimate) |
| DualCoding::ShapeSpace & | getcamShS () const |
| DualCoding::ShapeSpace & | getLocalShS () const |
| DualCoding::ShapeSpace & | getWorldShS () const |
Protected Attributes | |
| DualCoding::ShapeSpace & | cShS |
| Camera shape space. | |
| DualCoding::ShapeSpace & | lShS |
| Local shape space. | |
| DualCoding::ShapeSpace & | wShS |
| World shape space. | |
Member Typedef Documentation
| typedef ParticleFilter<ParticleT>::SensorModel::index_t ShapeSensorModel< ParticleT >::index_t |
convenience typedef
Reimplemented from ParticleFilter< ParticleT >::SensorModel.
Definition at line 89 of file ShapeSensorModel.h.
| typedef ParticleFilter<ParticleT>::SensorModel::particle_collection ShapeSensorModel< ParticleT >::particle_collection |
convenience typedef
Reimplemented from ParticleFilter< ParticleT >::SensorModel.
Definition at line 90 of file ShapeSensorModel.h.
| typedef ParticleFilter<ParticleT>::SensorModel::particle_type ShapeSensorModel< ParticleT >::particle_type |
convenience typedef
Reimplemented from ParticleFilter< ParticleT >::SensorModel.
Definition at line 91 of file ShapeSensorModel.h.
Constructor & Destructor Documentation
| ShapeSensorModel< ParticleT >::ShapeSensorModel | ( | DualCoding::ShapeSpace & | camShS, | |
| DualCoding::ShapeSpace & | localShS, | |||
| DualCoding::ShapeSpace & | worldShS | |||
| ) |
constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly
Definition at line 94 of file ShapeSensorModel.h.
Member Function Documentation
| virtual void ShapeSensorModel< ParticleT >::evaluate | ( | particle_collection & | particles, | |
| particle_type & | estimate | |||
| ) | [virtual] |
Applies the ParticleShapeEvaluator across a collection of particles.
Definition at line 99 of file ShapeSensorModel.h.
| DualCoding::ShapeSpace& ShapeSensorModel< ParticleT >::getcamShS | ( | ) | const |
Definition at line 147 of file ShapeSensorModel.h.
| DualCoding::ShapeSpace& ShapeSensorModel< ParticleT >::getLocalShS | ( | ) | const |
Definition at line 148 of file ShapeSensorModel.h.
| DualCoding::ShapeSpace& ShapeSensorModel< ParticleT >::getWorldShS | ( | ) | const |
Definition at line 149 of file ShapeSensorModel.h.
Referenced by DualCoding::ShapeBasedParticleFilter::displayIndividualParticles(), DualCoding::ShapeBasedParticleFilter::displayParticles(), and DualCoding::ShapeBasedParticleFilter::resizeParticles().
| virtual void ShapeSensorModel< ParticleT >::updateFromCamera | ( | particle_collection & | particles, | |
| particle_type & | estimate | |||
| ) | [virtual] |
Definition at line 135 of file ShapeSensorModel.h.
Referenced by DualCoding::ShapeBasedParticleFilter::updateFromCamera().
| virtual void ShapeSensorModel< ParticleT >::updateFromLocal | ( | particle_collection & | particles, | |
| particle_type & | estimate | |||
| ) | [virtual] |
Definition at line 104 of file ShapeSensorModel.h.
Referenced by ShapeSensorModel< LocalizationParticle >::evaluate(), and DualCoding::ShapeBasedParticleFilter::updateFromLocal().
Member Data Documentation
DualCoding::ShapeSpace& ShapeSensorModel< ParticleT >::cShS [protected] |
Camera shape space.
Definition at line 152 of file ShapeSensorModel.h.
Referenced by ShapeSensorModel< LocalizationParticle >::updateFromCamera().
DualCoding::ShapeSpace& ShapeSensorModel< ParticleT >::lShS [protected] |
Local shape space.
Definition at line 153 of file ShapeSensorModel.h.
Referenced by ShapeSensorModel< LocalizationParticle >::getcamShS(), ShapeSensorModel< LocalizationParticle >::getLocalShS(), and ShapeSensorModel< LocalizationParticle >::updateFromLocal().
DualCoding::ShapeSpace& ShapeSensorModel< ParticleT >::wShS [protected] |
World shape space.
Definition at line 154 of file ShapeSensorModel.h.
Referenced by ShapeSensorModel< LocalizationParticle >::getWorldShS(), ShapeSensorModel< LocalizationParticle >::updateFromCamera(), and ShapeSensorModel< LocalizationParticle >::updateFromLocal().
The documentation for this class was generated from the following file:
