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PFShapeSLAM Class Reference

#include <PFShapeSLAM.h>

Inheritance diagram for PFShapeSLAM:

List of all members.


Detailed Description

bundles a DeadReckoning motion model and a SLAMShapesSensorModel for easy use of a shape-based particle filter for mapping and localization

Definition at line 137 of file PFShapeSLAM.h.


Public Member Functions

 PFShapeSLAM (ShapeSpace &localShS, ShapeSpace &worldShS, unsigned int numParticles=2000)
 constructor, must pass local and world shape spaces, which will be used in future calls to update()
virtual ~PFShapeSLAM ()
 destructor
virtual void update (bool updateMot=true, bool doResample=true)
 update, triggers a particle filter update using the embedded sensorModel
virtual SLAMShapesSensorModel
< SLAMShapesParticle > & 
getSensorModel () const
 accessor for sensorModel
virtual void setSensorModel (SLAMShapesSensorModel< SLAMShapesParticle > *customSensorModel)
 replaces the sensor model in use, the particle filter will take responsibility for deallocating the sensor model's memory when destructed or replaced
virtual void setAgent () const
 updates the mapbuilder's agent's position on worldShS
virtual void displayParticles (float const howmany=100) const
 displays particles on the world map; howmany can either be a percentage (<= 1.0) or a whole number

Protected Attributes

SLAMShapesSensorModel
< SLAMShapesParticle > * 
sensorModel
 provides evaluation of particles

Private Member Functions

 PFShapeSLAM (const PFShapeSLAM &)
 don't call (copy constructor)
PFShapeSLAMoperator= (const PFShapeSLAM &)
 don't call (assignment operator)

Constructor & Destructor Documentation

PFShapeSLAM ( ShapeSpace localShS,
ShapeSpace worldShS,
unsigned int  numParticles = 2000 
) [inline]

constructor, must pass local and world shape spaces, which will be used in future calls to update()

Definition at line 140 of file PFShapeSLAM.h.

virtual ~PFShapeSLAM (  )  [inline, virtual]

destructor

Definition at line 148 of file PFShapeSLAM.h.

PFShapeSLAM ( const PFShapeSLAM  )  [private]

don't call (copy constructor)


Member Function Documentation

virtual void update ( bool  updateMot = true,
bool  doResample = true 
) [inline, virtual]

update, triggers a particle filter update using the embedded sensorModel

Definition at line 158 of file PFShapeSLAM.h.

virtual SLAMShapesSensorModel<SLAMShapesParticle>& getSensorModel (  )  const [inline, virtual]

accessor for sensorModel

Definition at line 161 of file PFShapeSLAM.h.

virtual void setSensorModel ( SLAMShapesSensorModel< SLAMShapesParticle > *  customSensorModel  )  [inline, virtual]

replaces the sensor model in use, the particle filter will take responsibility for deallocating the sensor model's memory when destructed or replaced

Definition at line 164 of file PFShapeSLAM.h.

void setAgent (  )  const [virtual]

updates the mapbuilder's agent's position on worldShS

Definition at line 83 of file PFShapeSLAM.cc.

void displayParticles ( float const   howmany = 100  )  const [virtual]

displays particles on the world map; howmany can either be a percentage (<= 1.0) or a whole number

Definition at line 88 of file PFShapeSLAM.cc.

PFShapeSLAM& operator= ( const PFShapeSLAM  )  [private]

don't call (assignment operator)


Member Data Documentation


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

DualCoding 4.0
Generated Thu Nov 22 00:54:00 2007 by Doxygen 1.5.4