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SLAMShapesParticle Class Reference#include <PFShapeSLAM.h>
Inheritance diagram for SLAMShapesParticle:
![]() Detailed DescriptionEach Particle represents a hypothesis about the match of the local map to the world map, considering changes to the map.Only handles adding or removing landmarks, not moving existing landmarks. (A move can be modeled as an addition plus a deletion, but there will be two penalties to pay.) Note that the particle evaluation doesn't modify the world map, only tracks suggestions about what should be changed. The size of addLocal and deleteWorld may not exactly match the number of current local or world landmarks -- the SensorModel is lazy about resizing for efficiency reasons. Definition at line 33 of file PFShapeSLAM.h.
Member Typedef DocumentationDefines a default DistributionPolicy for the particle type (just reuse the same one as LocalizationParticle).
Definition at line 36 of file PFShapeSLAM.h.
Constructor & Destructor Documentation
Member Data Documentationtrue for local landmarks missing from the world map
Definition at line 41 of file PFShapeSLAM.h. Referenced by SLAMParticleShapeEvaluator::determineAdditions(), SLAMParticleShapeEvaluator::evaluate(), and DualCoding::operator<<().
true for world landmarks missing from the local map
Definition at line 42 of file PFShapeSLAM.h. Referenced by SLAMParticleShapeEvaluator::determineDeletions(), and DualCoding::operator<<().
The documentation for this class was generated from the following file: |
DualCoding 4.0 |
Generated Thu Nov 22 00:53:59 2007 by Doxygen 1.5.4 |