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SLAMShapesParticle Class Reference

#include <PFShapeSLAM.h>

Inheritance diagram for SLAMShapesParticle:

List of all members.


Detailed Description

Each 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.


Public Types

typedef
LocalizationParticleDistributionPolicy
< SLAMShapesParticle
DistributionPolicy
 Defines a default DistributionPolicy for the particle type (just reuse the same one as LocalizationParticle).

Public Member Functions

 SLAMShapesParticle ()
 Constructor.

Public Attributes

std::vector< booladdLocal
 true for local landmarks missing from the world map
std::vector< booldeleteWorld
 true for world landmarks missing from the local map

Member Typedef Documentation

Defines 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

SLAMShapesParticle (  )  [inline]

Constructor.

Definition at line 39 of file PFShapeSLAM.h.


Member Data Documentation

std::vector<bool> addLocal

true 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<<().

std::vector<bool> deleteWorld

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