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PFShapeLocalization Class Reference

#include <PFShapeLocalization.h>

Inheritance diagram for PFShapeLocalization:

List of all members.


Detailed Description

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

Definition at line 182 of file PFShapeLocalization.h.


Public Member Functions

 PFShapeLocalization (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 ~PFShapeLocalization ()
 destructor
virtual void update (bool updateMot=true, bool doResample=true)
 update, triggers a particle filter update using the embedded sensorModel
virtual ShapeSensorModel
< LocalizationParticle > & 
getSensorModel () const
 accessor for sensorModel
virtual void setSensorModel (ShapeSensorModel< LocalizationParticle > *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 setPosition (float const x, float const y, AngTwoPi const orientation, float variance=0)
 resets particles to the specified position and orientation, and optionally jiggles them by variance
virtual void setWorldBounds (const Shape< PolygonData > &bounds)
 sets boundary within which particles should lie
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

ShapeSensorModel
< LocalizationParticle > * 
sensorModel
 provides evaluation of particles

Private Member Functions

 PFShapeLocalization (const PFShapeLocalization &)
 don't call (copy constructor)
PFShapeLocalizationoperator= (const PFShapeLocalization &)
 don't call (assignment operator)

Constructor & Destructor Documentation

PFShapeLocalization ( 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 185 of file PFShapeLocalization.h.

virtual ~PFShapeLocalization (  )  [inline, virtual]

destructor

Definition at line 195 of file PFShapeLocalization.h.

PFShapeLocalization ( const PFShapeLocalization  )  [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 205 of file PFShapeLocalization.h.

Referenced by Pilot::Localize::processMap().

virtual ShapeSensorModel<LocalizationParticle>& getSensorModel (  )  const [inline, virtual]

accessor for sensorModel

Definition at line 208 of file PFShapeLocalization.h.

virtual void setSensorModel ( ShapeSensorModel< LocalizationParticle > *  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 211 of file PFShapeLocalization.h.

void setAgent (  )  const [virtual]

updates the mapbuilder's agent's position on worldShS

Definition at line 144 of file PFShapeLocalization.cc.

Referenced by Pilot::CreepToShapeLocalize::DoStart(), and Pilot::Localize::processMap().

void setPosition ( float const   x,
float const   y,
AngTwoPi const   orientation,
float  variance = 0 
) [virtual]

resets particles to the specified position and orientation, and optionally jiggles them by variance

Definition at line 149 of file PFShapeLocalization.cc.

void setWorldBounds ( const Shape< PolygonData > &  bounds  )  [virtual]

sets boundary within which particles should lie

Definition at line 154 of file PFShapeLocalization.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 163 of file PFShapeLocalization.cc.

Referenced by Pilot::CreepToShapeLocalize::DoStart(), and Pilot::Localize::processMap().

PFShapeLocalization& operator= ( const PFShapeLocalization  )  [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 00:53:59 2007 by Doxygen 1.5.4