#include <CLPaFil.h>
Public Member Functions | |
ParticleFilter () | |
Default constructor. | |
ParticleFilter (CLPaFilParams in) | |
Complete constructor. | |
void | step (LocFilInput &input) |
Particle Filter step. | |
void | reset () |
Reset Particle Filter. | |
void | getInternalEstimate (LocFilInput &input, vector< Particle > &last_map) |
Launches the appropriate getInternalEstimate function. | |
void | getInternalEstimate_abs (LocFilInput &input, vector< Particle > &last_map) |
Compute the best available estimate of IxJ - ABS version. | |
void | getInternalEstimate_rel (LocFilInput &input, vector< Particle > &last_map) |
Compute the best available estimate of IxJ - REL version. | |
int | getEstimate (Pose *best) |
Provide the best available estimate. | |
int | getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks) |
Provide all the present estimates. | |
void | updateVar (LocFilInput &input, vector< Particle > &last_map, int &caso) |
Save filter status and prepare next iteration. | |
string | print () |
Print. | |
void | reset (CLPaFilParams inPar) |
Reset filter status. | |
int | getStep () |
Get the step (int) of the filter. | |
Pose | getIxi () |
Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro. | |
Pose | getJxj () |
Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro. | |
void | ComputeWeights (LocFilInput &input, int &caso) |
Launches the appropriate version of ComputeWeight function. | |
void | ComputeWeights_abs (LocFilInput &input, int &caso) |
Assign weight to each particle - version ABS. | |
void | ComputeWeights_rel (LocFilInput &input, int &caso) |
Assign weight to each particle - version REL. | |
vector< Particle > | Resample () |
Select particles randomly according to their weight. | |
void | OutputPerformance (LocFilInput &input) |
Output results writing them on text files. | |
Protected Attributes | |
CLPaFilParams | par |
Parameters. | |
CLPaFilVariables * | var |
Variables. |
ParticleFilter::ParticleFilter | ( | ) | [inline] |
Default constructor.