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ParticleShapeEvaluator Class Reference#include <PFShapeLocalization.h>
Inheritance diagram for ParticleShapeEvaluator:
![]() Detailed Descriptionprovides evaluation of the matching between local and world given a candidate particleThe reason for separating ParticleShapeEvaluator and ShapeSensorModel? Partly so the fairly lengthy evaluation code can go in the .cc file to avoid repeated recompilation, but also to allow inheritance (e.g. SLAMShapeParticleEvaluator) as a clean way to extend the evaluation code for particle sub-types. Definition at line 27 of file PFShapeLocalization.h.
Constructor & Destructor Documentation
constructor, pass the local and world shape spaces, these will be used to initialize the appropriate particle-independent fields of the class
Definition at line 17 of file PFShapeLocalization.cc.
Member Function Documentation
the heart of the class, call with a particle, will adjust the weight
Definition at line 39 of file PFShapeLocalization.cc. Referenced by SLAMParticleShapeEvaluator::evaluate(), and ShapeSensorModel< LocalizationParticle >::evaluate().
Definition at line 36 of file PFShapeLocalization.h.
Definition at line 37 of file PFShapeLocalization.h. Referenced by ShapeSensorModel< LocalizationParticle >::evaluate().
Definition at line 38 of file PFShapeLocalization.h. Referenced by ShapeSensorModel< LocalizationParticle >::evaluate().
helper function which calculates the distance between a point and a line along a perpendicular
Definition at line 134 of file PFShapeLocalization.cc. Referenced by ParticleShapeEvaluator::evaluate().
Member Data Documentationa vector of the landmarks in the local space
Definition at line 40 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineAdditions(), SLAMParticleShapeEvaluator::determineDeletions(), SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate(), SLAMParticleShapeEvaluator::evaluate(), ParticleShapeEvaluator::evaluate(), ParticleShapeEvaluator::ParticleShapeEvaluator(), and SLAMParticleShapeEvaluator::SLAMParticleShapeEvaluator(). a vector of landmarks in the world space
Definition at line 41 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineDeletions(), SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate(), ParticleShapeEvaluator::evaluate(), ParticleShapeEvaluator::ParticleShapeEvaluator(), and SLAMParticleShapeEvaluator::SLAMParticleShapeEvaluator().
maximum distance for a landmark to be useful in distance error calculation
Definition at line 43 of file PFShapeLocalization.h. Referenced by ParticleShapeEvaluator::setMaxDist().
Index of best matching world landmark for each local landmark according to the currently-selected particle.
Definition at line 45 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineAdditions(), SLAMParticleShapeEvaluator::determineDeletions(), SLAMParticleShapeEvaluator::evaluate(), ParticleShapeEvaluator::evaluate(), and ParticleShapeEvaluator::ParticleShapeEvaluator().
number of matches found
Definition at line 46 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineAdditions(), SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate(), ParticleShapeEvaluator::evaluate(), and ParticleShapeEvaluator::getNumMatches().
Match scores for local landmarks according to this particle, only first numMatches are filled in (skip non-matching).
Definition at line 47 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineAdditions(), SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate(), ParticleShapeEvaluator::evaluate(), ParticleShapeEvaluator::getLocalScores(), and ParticleShapeEvaluator::ParticleShapeEvaluator().
x coords of local landmarks according to the currently-selected particle
Definition at line 52 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineDeletions(), ParticleShapeEvaluator::evaluate(), and ParticleShapeEvaluator::ParticleShapeEvaluator().
y coords of local landmarks according to the currently-selected particle
Definition at line 53 of file PFShapeLocalization.h. Referenced by SLAMParticleShapeEvaluator::determineDeletions(), ParticleShapeEvaluator::evaluate(), and ParticleShapeEvaluator::ParticleShapeEvaluator().
x coords of other point of local line
Definition at line 54 of file PFShapeLocalization.h. Referenced by ParticleShapeEvaluator::evaluate(), and ParticleShapeEvaluator::ParticleShapeEvaluator().
y coords of other point of local line
Definition at line 55 of file PFShapeLocalization.h. Referenced by ParticleShapeEvaluator::evaluate(), and ParticleShapeEvaluator::ParticleShapeEvaluator().
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 |