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SLAMShapesSensorModel Class Template Reference

#include <PFShapeSLAM.h>

Inheritance diagram for SLAMShapesSensorModel:

List of all members.


Detailed Description

template<typename ParticleT>
class DualCoding::SLAMShapesSensorModel< ParticleT >

this wraps the SLAMParticleShapeEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter

see ShapeSensorModel for discussion of architectural issues vs separation of SLAMParticleShapeEvaluator

Definition at line 73 of file PFShapeSLAM.h.


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

 SLAMShapesSensorModel (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 SLAMParticleShapeEvaluator across a collection of particles and tracks the best weight
ShapeSpacegetLocalShS () const
ShapeSpacegetWorldShS () const

Public Attributes

float stdevSq
 controls how much weight is given to "near-misses"
float addPenalty
 controls how readily new landmarks are added to the map, vs. penalizing the particle for a bad match

Protected Member Functions

float normpdf (float const distsq)
 computes a (non-normalized) gaussian distribution

Protected Attributes

ShapeSpacelShS
 Local shape space.
ShapeSpacewShS
 World shape space.
unsigned int particleLocalLandmarks
 number of entries in particles' individual addLocal (so we know if we need to resize it in all particles)
unsigned int particleWorldLandmarks
 number of entries in particles' individual deleteWorld (so we know if we need to resize it in all particles)

Member Typedef Documentation

typedef ParticleFilter<ParticleT>::SensorModel::index_t index_t

convenience typedef

Definition at line 75 of file PFShapeSLAM.h.

typedef ParticleFilter<ParticleT>::SensorModel::particle_collection particle_collection

convenience typedef

Definition at line 76 of file PFShapeSLAM.h.


Constructor & Destructor Documentation

SLAMShapesSensorModel ( ShapeSpace localShS,
ShapeSpace worldShS 
) [inline]

constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly

Definition at line 79 of file PFShapeSLAM.h.


Member Function Documentation

virtual void evaluate ( particle_collection particles,
index_t bestIndex 
) [inline, virtual]

applies the SLAMParticleShapeEvaluator across a collection of particles and tracks the best weight

Definition at line 90 of file PFShapeSLAM.h.

ShapeSpace& getLocalShS (  )  const [inline]

Definition at line 117 of file PFShapeSLAM.h.

ShapeSpace& getWorldShS (  )  const [inline]

Definition at line 118 of file PFShapeSLAM.h.

float normpdf ( float const   distsq  )  [inline, protected]

computes a (non-normalized) gaussian distribution

normalization doesn't matter because it's constant across particles, and so doesn't matter for purposes of comparison between particles

Definition at line 130 of file PFShapeSLAM.h.

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


Member Data Documentation

float stdevSq

controls how much weight is given to "near-misses"

Definition at line 85 of file PFShapeSLAM.h.

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

float addPenalty

controls how readily new landmarks are added to the map, vs. penalizing the particle for a bad match

Definition at line 87 of file PFShapeSLAM.h.

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

ShapeSpace& wShS [protected]

World shape space.

Definition at line 122 of file PFShapeSLAM.h.

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

unsigned int particleLocalLandmarks [protected]

number of entries in particles' individual addLocal (so we know if we need to resize it in all particles)

Definition at line 124 of file PFShapeSLAM.h.

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

unsigned int particleWorldLandmarks [protected]

number of entries in particles' individual deleteWorld (so we know if we need to resize it in all particles)

Definition at line 125 of file PFShapeSLAM.h.

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


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

DualCoding 4.0
Generated Thu Nov 22 00:54:00 2007 by Doxygen 1.5.4