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ParticleFilter< ParticleT >::SensorModel Class Reference#include <ParticleFilter.h>
Detailed Descriptiontemplate<typename ParticleT>
A sensor model is used to update particle weights to account based on each particle's ability to explain observations taken from the system.
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Public Types | |
typedef ParticleT | particle_type |
redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef | |
typedef std::vector < particle_type > | particle_collection |
the collection type we'll be using to store the particles | |
typedef particle_collection::size_type | index_t |
index type for refering to particles within the collection | |
Public Member Functions | |
virtual | ~SensorModel () |
destructor (no-op for base class) | |
virtual void | evaluate (particle_collection &particles, index_t &bestIndex)=0 |
once passed to the particle filter's updateSensors(), this will be called to allow the sensor model to update the 'weight' member of each particle |
typedef ParticleT ParticleFilter< ParticleT >::SensorModel::particle_type |
redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef
Definition at line 136 of file ParticleFilter.h.
typedef std::vector<particle_type> ParticleFilter< ParticleT >::SensorModel::particle_collection |
the collection type we'll be using to store the particles
Definition at line 137 of file ParticleFilter.h.
typedef particle_collection::size_type ParticleFilter< ParticleT >::SensorModel::index_t |
index type for refering to particles within the collection
Definition at line 138 of file ParticleFilter.h.
virtual ParticleFilter< ParticleT >::SensorModel::~SensorModel | ( | ) | [inline, virtual] |
virtual void ParticleFilter< ParticleT >::SensorModel::evaluate | ( | particle_collection & | particles, | |
index_t & | bestIndex | |||
) | [pure virtual] |
once passed to the particle filter's updateSensors(), this will be called to allow the sensor model to update the 'weight' member of each particle
particles | the current set of particles to be evaluated | |
[in] | bestIndex | on input, this will hold the index within particles of the particle with the highest weight. |
[out] | bestIndex | on return, your function should update the parameter so it still indicates the best particle |
Referenced by ParticleFilter< ParticleT >::updateSensors().
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