ParticleFilter Class Reference
[Mutual localization]

Particle Filter implementation of the LocFilter class. More...

#include <CLPaFil.h>

List of all members.

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< ParticleResample ()
 Select particles randomly according to their weight.
void OutputPerformance (LocFilInput &input)
 Output results writing them on text files.

Protected Attributes

CLPaFilParams par
 Parameters.
CLPaFilVariablesvar
 Variables.


Detailed Description

Particle Filter implementation of the LocFilter class.

Author:
Paolo Stegagno

Constructor & Destructor Documentation

ParticleFilter::ParticleFilter (  )  [inline]

Default constructor.


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

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