MipAlgorithms::MutLocFilInput3D Class Reference

Class represents MutLocFilter3D inputs new inputs that must be passed to filter at each iteration. More...

#include <MutLoc.h>

List of all members.

Public Member Functions
	MutLocFilInput3D ()
	Default constructor.
	~MutLocFilInput3D ()
	Destructor.
string	print ()
	Print function.
Public Attributes
int	numMeas
	Number of measures.
vector< Pose3D >	measure
	Measures.
vector< MIPMatrix >	measCov
	Covariance matrix of the measures.
Acceleration3D	myConfAcc
	Acceleration of the owner.
Velocity3D	myConfAngVel
	Angular velocity of the owner.
Velocity3D	myConfLinVel
	Linear velocity of the owner.
MIPMatrix *	myCov
	Covariance matrix of the pose of the owner.
Acceleration3D	hisConfAcc
	Acceleration of the other.
Velocity3D	hisConfAngVel
	Angular velocity of the other.
Velocity3D	hisConfLinVel
	Linear velocity of the owner.
MIPMatrix *	hisCov
	Covariance matrix of the pose of the other.
Decimal	rightProb
	Probability of having the real value in the set of measures.
bool	useVelMeasurements
	Tells wether to consider velocity measurements or not.
bool	updateValue
	Previous my acceleration.
bool	sysMeasUpdate
Velocity3D	myOmegaVel
pair< bool, Decimal >	actualTime
	Actual time of simulation.
vector< Decimal >	priorWeights
	Prior probabilities normalized.

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Detailed Description

Class represents MutLocFilter3D inputs new inputs that must be passed to filter at each iteration.

Author:

Marco Cognetti

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Constructor & Destructor Documentation

MipAlgorithms::MutLocFilInput3D::MutLocFilInput3D

(

)

Default constructor.

MipAlgorithms::MutLocFilInput3D::~MutLocFilInput3D

(

)

Destructor.

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Member Function Documentation

string MipAlgorithms::MutLocFilInput3D::print

(

)

Print function.

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Member Data Documentation

int MipAlgorithms::MutLocFilInput3D::numMeas

Number of measures.

vector<Pose3D> MipAlgorithms::MutLocFilInput3D::measure

Measures.

vector<MIPMatrix> MipAlgorithms::MutLocFilInput3D::measCov

Covariance matrix of the measures.

Acceleration3D MipAlgorithms::MutLocFilInput3D::myConfAcc

Acceleration of the owner.

Velocity3D MipAlgorithms::MutLocFilInput3D::myConfAngVel

Angular velocity of the owner.

Velocity3D MipAlgorithms::MutLocFilInput3D::myConfLinVel

Linear velocity of the owner.

MIPMatrix* MipAlgorithms::MutLocFilInput3D::myCov

Covariance matrix of the pose of the owner.

Acceleration3D MipAlgorithms::MutLocFilInput3D::hisConfAcc

Acceleration of the other.

Velocity3D MipAlgorithms::MutLocFilInput3D::hisConfAngVel

Angular velocity of the other.

Velocity3D MipAlgorithms::MutLocFilInput3D::hisConfLinVel

Linear velocity of the owner.

MIPMatrix* MipAlgorithms::MutLocFilInput3D::hisCov

Covariance matrix of the pose of the other.

Decimal MipAlgorithms::MutLocFilInput3D::rightProb

Probability of having the real value in the set of measures.

bool MipAlgorithms::MutLocFilInput3D::useVelMeasurements

Tells wether to consider velocity measurements or not.

bool MipAlgorithms::MutLocFilInput3D::updateValue

Previous my acceleration.

Angular velocity of the owner in previous step. Previous his acceleration Angular velocity of the other in previous step. Says if update or not the value of a cluster using this input. If true allow the filter to increment by one the value of clusters that gain a new measure by mean association in current step.
If false says to the filter to not increment values, for example if all robots of a formation are still.

bool MipAlgorithms::MutLocFilInput3D::sysMeasUpdate

Velocity3D MipAlgorithms::MutLocFilInput3D::myOmegaVel

pair<bool,Decimal> MipAlgorithms::MutLocFilInput3D::actualTime

Actual time of simulation.

vector<Decimal> MipAlgorithms::MutLocFilInput3D::priorWeights

Prior probabilities normalized.

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

• algorithms/MutLoc/MutLoc.h
• algorithms/MutLoc/MutLoc.cpp