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ShapeSensorModel Class Template Reference#include <PFShapeLocalization.h>
Inheritance diagram for ShapeSensorModel:
![]() Detailed Descriptiontemplate<typename ParticleT>
this wraps the ParticleShapeEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter
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Public Types | |
typedef ParticleFilter < ParticleT > ::SensorModel::index_t | index_t |
convenience typedef | |
typedef ParticleFilter < ParticleT > ::SensorModel::particle_collection | particle_collection |
convenience typedef | |
Public Member Functions | |
ShapeSensorModel (ShapeSpace &localShS, ShapeSpace &worldShS) | |
constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly | |
virtual void | evaluate (particle_collection &particles, index_t &bestIndex) |
applies the ParticleShapeEvaluator across a collection of particles and tracks the best weight | |
ShapeSpace & | getLocalShS () const |
ShapeSpace & | getWorldShS () const |
Public Attributes | |
float | stdevSq |
controls how much weight is given to "near-misses" | |
Protected Member Functions | |
float | normpdf (float const distsq) |
Protected Attributes | |
ShapeSpace & | lShS |
Local shape space. | |
ShapeSpace & | wShS |
World shape space. |
typedef ParticleFilter<ParticleT>::SensorModel::index_t index_t |
typedef ParticleFilter<ParticleT>::SensorModel::particle_collection particle_collection |
ShapeSensorModel | ( | ShapeSpace & | localShS, | |
ShapeSpace & | worldShS | |||
) | [inline] |
constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly
Definition at line 75 of file PFShapeLocalization.h.
virtual void evaluate | ( | particle_collection & | particles, | |
index_t & | bestIndex | |||
) | [inline, virtual] |
applies the ParticleShapeEvaluator across a collection of particles and tracks the best weight
Definition at line 83 of file PFShapeLocalization.h.
ShapeSpace& getLocalShS | ( | ) | const [inline] |
Definition at line 101 of file PFShapeLocalization.h.
ShapeSpace& getWorldShS | ( | ) | const [inline] |
Definition at line 102 of file PFShapeLocalization.h.
Referenced by PFShapeLocalization::displayParticles().
float normpdf | ( | float const | distsq | ) | [inline, protected] |
normalization isn't needed because the scale factor is constant across particles, and so doesn't matter for purposes of comparison between particles
Definition at line 111 of file PFShapeLocalization.h.
Referenced by ShapeSensorModel< LocalizationParticle >::evaluate().
float stdevSq |
controls how much weight is given to "near-misses"
Definition at line 80 of file PFShapeLocalization.h.
Referenced by ShapeSensorModel< LocalizationParticle >::evaluate(), and ShapeSensorModel< LocalizationParticle >::normpdf().
ShapeSpace& lShS [protected] |
Local shape space.
Definition at line 105 of file PFShapeLocalization.h.
Referenced by ShapeSensorModel< LocalizationParticle >::evaluate(), and ShapeSensorModel< LocalizationParticle >::getWorldShS().
ShapeSpace& wShS [protected] |
World shape space.
computes a (non-normalized) gaussian distribution
Definition at line 106 of file PFShapeLocalization.h.
Referenced by ShapeSensorModel< LocalizationParticle >::evaluate().
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