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SLAMParticleShapeEvaluator Class Reference

#include <PFShapeSLAM.h>

Inheritance diagram for SLAMParticleShapeEvaluator:

List of all members.


Detailed Description

extends ParticleShapeEvaluator to handle the addition and removal of landmarks as necessary

Definition at line 46 of file PFShapeSLAM.h.


Public Member Functions

 SLAMParticleShapeEvaluator (ShapeSpace &localShS, ShapeSpace &worldShS, float addPenalty)
 constructor, addPenalty specifies how much to add/multiply (logspace/linear space) weight when considering a landmark as an addition
void evaluate (SLAMShapesParticle &part)
 provides evaluation of SLAM-particles

Protected Member Functions

void determineAdditions (SLAMShapesParticle &part)
 may mark landmarks for addition which don't appear in the world map
void determineDeletions (SLAMShapesParticle &part)
 may mark landmarks for removal which don't appear in the world map

Protected Attributes

bool localMobile
 set to true if *any* landmarks are marked as "mobile"
bool worldMobile
 set to true if *any* landmarks are marked as "mobile"
const float ADDITION_PENALTY
 the value passed to the constructor, limits how readily landmarks are added to the map

Constructor & Destructor Documentation

SLAMParticleShapeEvaluator ( ShapeSpace localShS,
ShapeSpace worldShS,
float  addPenalty 
) [inline]

constructor, addPenalty specifies how much to add/multiply (logspace/linear space) weight when considering a landmark as an addition

Definition at line 49 of file PFShapeSLAM.h.


Member Function Documentation

void evaluate ( SLAMShapesParticle part  ) 

provides evaluation of SLAM-particles

Definition at line 16 of file PFShapeSLAM.cc.

Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate().

void determineAdditions ( SLAMShapesParticle part  )  [protected]

may mark landmarks for addition which don't appear in the world map

Definition at line 28 of file PFShapeSLAM.cc.

Referenced by SLAMParticleShapeEvaluator::evaluate().

void determineDeletions ( SLAMShapesParticle part  )  [protected]

may mark landmarks for removal which don't appear in the world map

Definition at line 55 of file PFShapeSLAM.cc.

Referenced by SLAMParticleShapeEvaluator::evaluate().


Member Data Documentation

bool localMobile [protected]

set to true if *any* landmarks are marked as "mobile"

Definition at line 62 of file PFShapeSLAM.h.

Referenced by SLAMParticleShapeEvaluator::evaluate(), and SLAMParticleShapeEvaluator::SLAMParticleShapeEvaluator().

bool worldMobile [protected]

set to true if *any* landmarks are marked as "mobile"

Definition at line 63 of file PFShapeSLAM.h.

Referenced by SLAMParticleShapeEvaluator::evaluate(), and SLAMParticleShapeEvaluator::SLAMParticleShapeEvaluator().

const float ADDITION_PENALTY [protected]

the value passed to the constructor, limits how readily landmarks are added to the map

Definition at line 64 of file PFShapeSLAM.h.

Referenced by SLAMParticleShapeEvaluator::determineAdditions().


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

DualCoding 4.0
Generated Thu Nov 22 00:53:59 2007 by Doxygen 1.5.4