Particle filter for Mutual localization without Multireg (direct filtering)
[Tasks]

Mutual localization task using particle filters. This task produces an estimate of the fixed frames of other robots. More...

Classes
class	MipTasks::ParticleMutLocNoMROptions
	Options for for the mutual localization task. More...
class	MipTasks::ParticleMutLocNoMRSharedMem
	Shared memory for the mutual localization. More...
class	MipTasks::ParticleMutLocTaskNoMR
	Task for the mutual localization. More...
Enumerations
enum	MipTasks::FrameTypesPMLNMR { MipTasks::FIXED_FRAME_PMLNMR, MipTasks::ATTACHED_FRAME_PMLNMR, MipTasks::FRAME_TYPES_NUM_PMLNMR }
enum	MipTasks::MutLocNoMRTypes { MipTasks::MAX_LIK_PMLNMR, MipTasks::FAST_SLAM_PMLNMR, MipTasks::MUTLOC_NOMR_TYPES_NUM }
	Types of mutual localization algorithm not using multireg. More...
enum	MipTasks::PMLNOMRTaskFunctionalities {   MipTasks::PMLNOMR_TASK_COMM_MYPOSE, MipTasks::PMLNOMR_TASK_COMM_MYPF, MipTasks::PMLNOMR_TASK_SEP_FILTERS, MipTasks::PMLNOMR_TASK_SING_FILT,   MipTasks::PMLNOMR_TASK_FUNCTIONALITIES_NUM }
enum	MipTasks::PHDFilterTaskFunctionalities {   MipTasks::PHDF_TASK_COMM_MYPOSE, MipTasks::PHDF_TASK_COMM_MYCI, MipTasks::PHDF_TASK_COMM_MYGM, MipTasks::PHDF_TASK_COMM_MYPF,   MipTasks::PHDF_TASK_COMP_EKF, MipTasks::PHDF_TASK_USEOTH_PF, MipTasks::PHDF_TASK_SELF_ESTIM, MipTasks::PHDF_TASK_ROBOCENTRIC,   MipTasks::PHDF_TASK_PHD_FILT, MipTasks::PHDF_TASK_FUNCTIONALITIES_NUM }
	Enumerates all different functionalities of the task. More...
Variables
static const char *	MipTasks::FrameTypesNamesPMLNMR [FRAME_TYPES_NUM_PMLNMR]
static const char *	MipTasks::MutLocNoMRNames [MUTLOC_NOMR_TYPES_NUM]
static const bool	MipTasks::PMLNOMRTaskFunctionalitiesTable [MUTLOC_NOMR_TYPES_NUM][PMLNOMR_TASK_FUNCTIONALITIES_NUM]
	Expresses wether or not the functionalities of the task must be executed for different types of filter.

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Detailed Description

Mutual localization task using particle filters. This task produces an estimate of the fixed frames of other robots.

The main objective of this task is the estimate of the poses of the fixed frames of other robots. It perfoms multiple operations:
This task communicates to all other robots the actual pose of the robot and the result of the last feature extraction.

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Enumeration Type Documentation

enum MipTasks::FrameTypesPMLNMR

Enumerator:

FIXED_FRAME_PMLNMR
ATTACHED_FRAME_PMLNMR
FRAME_TYPES_NUM_PMLNMR

enum MipTasks::MutLocNoMRTypes

Types of mutual localization algorithm not using multireg.

Author:

Paolo Stegagno

Enumerator:

MAX_LIK_PMLNMR
FAST_SLAM_PMLNMR
MUTLOC_NOMR_TYPES_NUM

enum MipTasks::PHDFilterTaskFunctionalities

Enumerates all different functionalities of the task.

Enumerator:

PHDF_TASK_COMM_MYPOSE
PHDF_TASK_COMM_MYCI
PHDF_TASK_COMM_MYGM
PHDF_TASK_COMM_MYPF
PHDF_TASK_COMP_EKF
PHDF_TASK_USEOTH_PF
PHDF_TASK_SELF_ESTIM
PHDF_TASK_ROBOCENTRIC
PHDF_TASK_PHD_FILT
PHDF_TASK_FUNCTIONALITIES_NUM

enum MipTasks::PMLNOMRTaskFunctionalities

Enumerator:

PMLNOMR_TASK_COMM_MYPOSE
PMLNOMR_TASK_COMM_MYPF
PMLNOMR_TASK_SEP_FILTERS
PMLNOMR_TASK_SING_FILT
PMLNOMR_TASK_FUNCTIONALITIES_NUM

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Variable Documentation

const char* MipTasks::FrameTypesNamesPMLNMR[FRAME_TYPES_NUM_PMLNMR] [static]

Initial value:

 {
  "fixed",
  "attached"
 }

const char* MipTasks::MutLocNoMRNames[MUTLOC_NOMR_TYPES_NUM] [static]

Initial value:

 {
  "MaximumLikelyhood",
  "FastSlam"
 }

MipTasks::PMLNOMRTaskFunctionalitiesTable [static]

Initial value:

{

        true,        false,     true,        false,     
      true,        true,     false,       true      
 }

Expresses wether or not the functionalities of the task must be executed for different types of filter.

Different types of filters are disposed on different rows (first index), while columns indicates different functionalities. To check if a functionality is requested in one type of filter, put the filter type as first index and the functionality type as second index of the filter.