Probability Hypotesis Density (PHD) Filter
[Algorithms]

This module provides ambstract classes and implementation for the Probability Hypotesis Density Filter for multi-target tracking in a 2-dimensional scenario. A standard interface for this tipe of filter is provided through a collection of abstract classes. The following implementation of the PHD Filter are also provided:
- Gaussian Mixture
. More...


Classes
class	MipAlgorithms::EKFilterUnicycle2DIn
	Provides a standard class for the input of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::EKFilterUnicycle2DPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::EKFilterUnicycle2DVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::EKFilterUnicycle2D
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMIDPHDUnicycle2DRCFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMIDPHDUnicycle2DRCFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMIDPHDUnicycle2DRCFilter
	Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...
class	MipAlgorithms::GMPHDLinear2DTargetNoIdFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDLinear2DTargetNoIdFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDLinear2DTargetNoIdFilter
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars
class	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter
class	MipAlgorithms::GMPHDUnicycle2DIdCentrFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCentrFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCentrFilter
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter
	Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter
	Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoopFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoopFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoopFilter
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoopFilter2
	Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...
class	MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter
	Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...
class	MipAlgorithms::GMPHDUnicycle2DIdFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdFilter
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DIdRCFilter
	Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...
class	MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DNoIdFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::GMPHDUnicycle2DNoIdFilter
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDFilterIn
	Provides a standard class for the input of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDFilter
	Provides an abstract standard class for a PHD filter for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDIDRansacPars
	Provides a class for the parameters of a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDIDRansacVars
	Provides a class for the variables of a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDIDRansac
	Provides a class for a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDRansacIn
	Provides a class for the input of a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDRansacOut
	Provides a class for the output of a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDRansacPars
	Provides a class for the parameters of a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDRansacVars
	Provides a class for the variables of a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	MipAlgorithms::PHDRansac
	Provides a class for a Ransac algorithm executed on the output of two PHD filters for tracking of multiple objects in a 2D world. More...
class	GMPHDUnicycle2DCamIdFilterVars
	Provides a standard class for the variables of a PHD filter for tracking of multiple objects in a 2D world. More...
class	GMPHDUnicycle2DCamIdFilterPars
	Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...
Enumerations
enum	MipAlgorithms::EKFilterUnicycle2DInputType { MipAlgorithms::EKF_UNICYCLE2D_INPUT_NONE, MipAlgorithms::EKF_UNICYCLE2D_INPUT_POSE, MipAlgorithms::EKF_UNICYCLE2D_INPUT_VELOCITIES, MipAlgorithms::EKF_UNICYCLE2D_INPUT_TYPE_NUM }
	Enumerates all types of possible control inputs for time update. More...
enum	MipAlgorithms::EKFilterUnicycle2DMeasurementType { MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_NONE, MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_POSE, MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_POSITION, MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_DISTANCE, MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_BEARING, MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_ORIENTATION, MipAlgorithms::EKF_UNICYCLE2D_MEASUREMENT_TYPE_NUM }
	Enumerates All types of possible measurement for measurement update. More...
enum	MipAlgorithms::PHDFilterType { MipAlgorithms::GM_LINEAR_NO_ID, MipAlgorithms::GM_UNICYCLE_2D_ID, MipAlgorithms::GM_UNICYCLE_2D_ID_RC, MipAlgorithms::GM_UNICYCLE_2D_ID_COOP, MipAlgorithms::GM_UNICYCLE_2D_ID_COOP_2, MipAlgorithms::GM_UNICYCLE_2D_ID_RC_COOP, MipAlgorithms::GM_UNICYCLE_2D_ID_3_COOP, MipAlgorithms::GM_UNICYCLE_2D_ID_4_COOP, MipAlgorithms::GM_UNICYCLE_2D_ID_CENTR, MipAlgorithms::GM_UNICYCLE_2D_NO_ID, MipAlgorithms::GM_UNICYCLE_2D_ID_RC_CAM, MipAlgorithms::NO_PHD_EKF_ONLY, MipAlgorithms::GMID_PHD_UNYCYCLE_2D_RC, MipAlgorithms::PHD_FILTER_TYPE_NUM }
	Enumerates All types of implemented PHD filters. More...
enum	MipAlgorithms::PHDFilterOutputType { MipAlgorithms::PHD_OUT_NULL, MipAlgorithms::PHD_OUT_GM, MipAlgorithms::PHD_OUT_GMJID, MipAlgorithms::PHD_OUT_GMID, MipAlgorithms::PHD_FILTER_OUTPUT_TYPE_NUM }
Functions
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::print ()
	Print function.
	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::GMPHDUnicycle2DCamIdRCFilterPars ()
	Default constructor.
	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::GMPHDUnicycle2DCamIdRCFilterPars (int mId, Decimal pS, Decimal pD, SimTime t, DMat &nx, DMat &h, DMat &nz, Decimal tt, int mc, Decimal mt, int pN, Decimal sdr, Decimal td, Decimal mdb, Decimal flc, Decimal wc, Decimal hc, Roto3DHomoArma &qct, Decimal ppx, Decimal ppy, Roto3DArma &rotoQuadMob, Roto3DHomoArma &rotoSonarQuad, bool vzsm)
	Complete constructor.
	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::GMPHDUnicycle2DCamIdRCFilterVars ()
	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::GMPHDUnicycle2DCamIdRCFilter ()
	Default constructor.
	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::GMPHDUnicycle2DCamIdRCFilter (GMPHDUnicycle2DCamIdRCFilterPars inParams)
	Constructor with parameters.
void	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::step (PHDFilterIn &in)
	Step function.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::print ()
	Print function.
void	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getBelief (GaussianMixtureJointId &gm)
	Get the current list of belief.
void	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getBeliefWeightedSum (map< int, Col< Decimal >::fixed< 3 > > &out, SimTime *actTime=NULL)
	It gets the weighted sum of the belief.
void	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getBestBelief (map< int, Col< Decimal >::fixed< 3 > > &out, SimTime *actTime=NULL)
	It computes the best guess (the one with the highest weight) for every estimated robot.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringWeightedSum ()
	It computes the weighted sum for each id and it exports it as a string.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringWeightedSumImagePlane ()
	It computes the weighted sum for each id and it exports it as a string in image plane coordinates.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringBestGuess ()
	It computes the best guess for every id and it exports it as a string.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringBestGuessImagePlane ()
	It computes the best guess for each id and the image plane corrispondence is computed.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringAllGuessImagePlane ()
	It exports as string every guess with its weight in the image plane coordinates.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringAllGuess ()
	It exports as string every guess with its weight.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringUAVData ()
	It exports as string some UAV data. Fill with all data one wants to save out from plane estimates.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringClusterGuess (const Decimal &per)
	It computes the guess for first weighted num items given in input as percentage.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsString ()
	It returns a string representing all the belief.
void	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAs3DRelCoordBestGuess (map< int, DCol::fixed< 4 > > &in)
	It returns the relative coordinates (x y z theta) w.r.t. NED frame.
PHDFilterOutputType	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getOutputType ()
Pose2DArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::_integral (Odometry2DTimeArma &vA, Odometry2DTimeArma &vB, const Decimal &dT)
	Export the the variable in Pose after integration.
string	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getObjectName () const
	Method that gives the name of the class as it will be displayed by the tracer.
Variables
static const char *	MipAlgorithms::EKFilterUnicycle2DInputTypeName [EKF_UNICYCLE2D_INPUT_TYPE_NUM]
	Names of all types of possible control inputs for time update.
static const char *	MipAlgorithms::EKFilterUnicycle2DMeasurementTypeName [EKF_UNICYCLE2D_MEASUREMENT_TYPE_NUM]
	Names of all types of possible measurement for measurement update.
DMat	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::H
	Matrix H in the measure model: z = Hx + n_z.
DMat	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::N_n_z
	Covariance of the measurement noise n_z in the measure model: z = Hx + n_z.
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::truncThresh
	Truncation treshold.
int	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::maxNumComponents
	Maximum number of allowed gaussians in the belief.
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::mergThresh
	Merging threshold.
int	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::partNumber
	Number of particles for the orientation.
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::sensorDetectionRay
	Maximum detection ray of the sensor.
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::targetDimension
	Target dimension.
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::maxDetectionBearing
	Maximum (and negative minimum) detection angle of bearing.
bool	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::useNewNoMeasWeight
	Wether or not.
CameraPar3DArma *	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::camPars
	Camera parameters.
int	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::myId
	Id of the robot performing the PHD with camera inputs.
Roto3DArma *	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::rotoQuadMobRob
	Rotation matrix between quadrotor and mobile robot when the former is in hovering (if data of quadrotor is in NED and mobile robot is NWU, one needs a transformation between them).
Roto3DArma *	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::rotSonarQuad
	Rotation matrix between quadrotor and sonar reference frames (w.r.t. quadrotor reference frame).
Roto3DArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::rotCameraQuadTrans
	Rotation matrix between camera and quadrotor (w.r.t. quadrotor reference frame) transpose.
Position3DArma *	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::posSonarQuad
	Relative position between quadrotor and sonar reference frames (w.r.t. quadrotor reference frame).
bool	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::vertZSonarAlgo
	Specify if the sonar measurement provides vertical height (false) or along z-axis of the sensor (true).
Position3DArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::bVec
Roto3DArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::CMat
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::vHeight
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::zHeight
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::roll
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::pitch
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myYaw
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myLastYaw
Position2DArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::borders [4]
vector< Position2DArma >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::newMeas
vector< Position2DArma >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::newBorder
Odometry2DTimeArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myLastOdom
Odometry2DTimeArma	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myOdo
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastMeasurementNumber
vector< Position >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastMeasurements
GaussianMixtureJointId	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::prediction
vector< DCol >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasures
vector< Decimal >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasuresD
vector< Angle >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasuresB
vector< DMat >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedCovariances
vector< DMat >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::kalmanGains
vector< DMat >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::stepKCovariances
vector< Decimal >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::detectionProbability
int	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::bestMyEstimate
vector< vector< Decimal > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasuresOth
vector< vector< Decimal > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedCovariancesOth
vector< vector< DMat > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::kalmanGainsOth
vector< vector< DMat > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::stepKCovariancesOth
vector< vector< Decimal > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::detectionProbabilityOth
vector< vector< Decimal > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::sensorWeightsOth
vector< Decimal >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::detectionProbabilitySum
Decimal	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::sensorWeightSum
vector< Decimal >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::notDetectionProbabilityProd
vector< vector< Decimal > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::dists
map< int, vector< int > >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::currSens
bool	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::firstStepAfterMeasurements
GaussianMixtureJointId	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::belief
GaussianMixtureJointId	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::beliefOth
vector< int >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastOtherRobotPoseNum
map< int, Pose2DArma >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastOtherRobotPose
map< int, Pose2DArma >	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::odometries
GMPHDUnicycle2DCamIdRCFilterPars *	MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::_gmpars
static const char *	MipAlgorithms::PHDFilterTypeName [PHD_FILTER_TYPE_NUM]
	Names of all types of implemented PHD filters.

Detailed Description

This module provides ambstract classes and implementation for the Probability Hypotesis Density Filter for multi-target tracking in a 2-dimensional scenario. A standard interface for this tipe of filter is provided through a collection of abstract classes. The following implementation of the PHD Filter are also provided:
- Gaussian Mixture
.

Enumeration Type Documentation

enum MipAlgorithms::EKFilterUnicycle2DInputType

Enumerates all types of possible control inputs for time update.

Enumerator:

EKF_UNICYCLE2D_INPUT_NONE
EKF_UNICYCLE2D_INPUT_POSE
EKF_UNICYCLE2D_INPUT_VELOCITIES
EKF_UNICYCLE2D_INPUT_TYPE_NUM

enum MipAlgorithms::EKFilterUnicycle2DMeasurementType

Enumerates All types of possible measurement for measurement update.

Enumerator:

EKF_UNICYCLE2D_MEASUREMENT_NONE
EKF_UNICYCLE2D_MEASUREMENT_POSE
EKF_UNICYCLE2D_MEASUREMENT_POSITION
EKF_UNICYCLE2D_MEASUREMENT_DISTANCE
EKF_UNICYCLE2D_MEASUREMENT_BEARING
EKF_UNICYCLE2D_MEASUREMENT_ORIENTATION
EKF_UNICYCLE2D_MEASUREMENT_TYPE_NUM

enum MipAlgorithms::PHDFilterOutputType

Enumerator:

PHD_OUT_NULL
PHD_OUT_GM
PHD_OUT_GMJID
PHD_OUT_GMID
PHD_FILTER_OUTPUT_TYPE_NUM

enum MipAlgorithms::PHDFilterType

Enumerates All types of implemented PHD filters.

Enumerates All types of outpiuts of PHD filters.

Enumerator:

GM_LINEAR_NO_ID
GM_UNICYCLE_2D_ID
GM_UNICYCLE_2D_ID_RC
GM_UNICYCLE_2D_ID_COOP
GM_UNICYCLE_2D_ID_COOP_2
GM_UNICYCLE_2D_ID_RC_COOP
GM_UNICYCLE_2D_ID_3_COOP
GM_UNICYCLE_2D_ID_4_COOP
GM_UNICYCLE_2D_ID_CENTR
GM_UNICYCLE_2D_NO_ID
GM_UNICYCLE_2D_ID_RC_CAM
NO_PHD_EKF_ONLY
GMID_PHD_UNYCYCLE_2D_RC
PHD_FILTER_TYPE_NUM

Function Documentation

Pose2DArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::_integral	(	Odometry2DTimeArma &	vA,
		Odometry2DTimeArma &	vB,
		const Decimal &	dT
	)			`[inherited]`

Export the the variable in Pose after integration.

Parameters:

`[in]`	&vA	Velocity to integrate at time t-1
`[in]`	&vB	Velocity to integrate at time t
`[in]`	&dT	Integral time

Returns:: Relative pose between t-1 and t in t-1 reference frame

void MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAs3DRelCoordBestGuess ( map< int, DCol::fixed< 4 > > & in ) [inherited]

It returns the relative coordinates (x y z theta) w.r.t. NED frame.

Parameters:

[out] in Map with id and 4 variables: relative [x y z theta]

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsString ( ) [inherited]

It returns a string representing all the belief.

Returns:: String of the actual beliefs

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringAllGuess ( ) [inherited]

It exports as string every guess with its weight.

Returns:: String representing a list of guesses with its weight

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringAllGuessImagePlane ( ) [inherited]

It exports as string every guess with its weight in the image plane coordinates.

Returns:: String representing a list of guesses with its weight in the image plane coordinates

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringBestGuess ( ) [inherited]

It computes the best guess for every id and it exports it as a string.

Returns:: String representing a list of best belief

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringBestGuessImagePlane ( ) [inherited]

It computes the best guess for each id and the image plane corrispondence is computed.

Returns:: String representing a list of best belief

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringClusterGuess ( const Decimal & per ) [inherited]

It computes the guess for first weighted num items given in input as percentage.

Parameters:

[in] per Percentage of number of belief one wants to compute the weighted sum

Returns:: String representing a list of cluster belief

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringUAVData ( ) [inherited]

It exports as string some UAV data. Fill with all data one wants to save out from plane estimates.

Returns:: String representing a list of data concerning UAV

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringWeightedSum ( ) [inherited]

It computes the weighted sum for each id and it exports it as a string.

Returns:: String representing a list of weighted belief sum

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::exportAsStringWeightedSumImagePlane ( ) [inherited]

It computes the weighted sum for each id and it exports it as a string in image plane coordinates.

Returns:: String representing a list of weighted belief sum in image plane coordinates

void MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getBelief ( GaussianMixtureJointId & gm ) [virtual, inherited]

Get the current list of belief.

Parameters:

[in] &gm GaussianMixtureJointId where each component is associated with one or more ids

Reimplemented from MipAlgorithms::PHDFilter.

void MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getBeliefWeightedSum	(	map< int, Col< Decimal >::fixed< 3 > > &	out,
		SimTime *	actTime = `NULL`
	)			`[inherited]`

It gets the weighted sum of the belief.

Parameters:

`[in]`	&out	Mapping between ids and actual pose weighted sum for the id
`[in]`	actTime	Optional - Actual time

void MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getBestBelief	(	map< int, Col< Decimal >::fixed< 3 > > &	out,
		SimTime *	actTime = `NULL`
	)			`[inherited]`

It computes the best guess (the one with the highest weight) for every estimated robot.

Parameters:

`[in]`	&out	Mapping between ids and actual best pose for the id
`[in]`	actTime	Optional - Actual time

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getObjectName ( ) const [inline, virtual, inherited]

Method that gives the name of the class as it will be displayed by the tracer.

Returns:: a string, which is the name of the current class

Note:: pure virtual, has to be redefined for each child class

Implements MIPObject.

PHDFilterOutputType MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::getOutputType ( ) [inline, virtual, inherited]

Implements MipAlgorithms::PHDFilter.

MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::GMPHDUnicycle2DCamIdRCFilter ( GMPHDUnicycle2DCamIdRCFilterPars inParams ) [inherited]

Constructor with parameters.

Parameters:

[in] inParams Input paramenters

MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::GMPHDUnicycle2DCamIdRCFilter ( ) [inherited]

Default constructor.

MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::GMPHDUnicycle2DCamIdRCFilterPars	(	int	mId,
		Decimal	pS,
		Decimal	pD,
		SimTime	t,
		DMat &	nx,
		DMat &	h,
		DMat &	nz,
		Decimal	tt,
		int	mc,
		Decimal	mt,
		int	pN,
		Decimal	sdr,
		Decimal	td,
		Decimal	mdb,
		Decimal	flc,
		Decimal	wc,
		Decimal	hc,
		Roto3DHomoArma &	qct,
		Decimal	ppx,
		Decimal	ppy,
		Roto3DArma &	rotoQuadMob,
		Roto3DHomoArma &	rotoSonarQuad,
		bool	vzsm
	)			`[inherited]`

Complete constructor.

MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::GMPHDUnicycle2DCamIdRCFilterPars ( ) [inherited]

Default constructor.

MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::GMPHDUnicycle2DCamIdRCFilterVars ( ) [inherited]

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::print ( ) [virtual, inherited]

Print function.

Returns:: String representing the main info of this class

Implements MipAlgorithms::PHDFilter.

string MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::print ( ) [inherited]

Print function.

void MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::step ( PHDFilterIn & in ) [virtual, inherited]

Step function.

Parameters:

[in] &in Input parameter for step function

Implements MipAlgorithms::PHDFilter.

Variable Documentation

GMPHDUnicycle2DCamIdRCFilterPars* MipAlgorithms::GMPHDUnicycle2DCamIdRCFilter::_gmpars [protected, inherited]

GaussianMixtureJointId MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::belief [inherited]

GaussianMixtureJointId MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::beliefOth [inherited]

int MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::bestMyEstimate [inherited]

Position2DArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::borders[4] [inherited]

Position3DArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::bVec [inherited]

CameraPar3DArma* MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::camPars [inherited]

Camera parameters.

Roto3DArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::CMat [inherited]

map<int, vector <int> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::currSens [inherited]

vector<Decimal> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::detectionProbability [inherited]

vector<vector<Decimal> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::detectionProbabilityOth [inherited]

vector<Decimal> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::detectionProbabilitySum [inherited]

vector<vector<Decimal > > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::dists [inherited]

MipAlgorithms::EKFilterUnicycle2DInputTypeName [static]

Initial value:

{
  "EKFUnicycle2DInputNone",
  "EKFUnicycle2DInputPose",
  "EKFUnicycle2DInputVelocities"
 }

Names of all types of possible control inputs for time update.

MipAlgorithms::EKFilterUnicycle2DMeasurementTypeName [static]

Initial value:

{
  "EKFUnicycle2DMeasurementNone",
  "EKFUnicycle2DMeasurementPose",
  "EKFUnicycle2DMeasurementPosition",
  "EKFUnicycle2DMeasurementDistance",
  "EKFUnicycle2DMeasurementBearing",
  "EKFUnicycle2DMeasurementOrientation"
 }

Names of all types of possible measurement for measurement update.

bool MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::firstStepAfterMeasurements [inherited]

DMat MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::H [inherited]

Matrix H in the measure model: z = Hx + n_z.

vector<DMat> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::kalmanGains [inherited]

vector<vector<DMat> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::kalmanGainsOth [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastMeasurementNumber [inherited]

vector<Position> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastMeasurements [inherited]

map<int,Pose2DArma> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastOtherRobotPose [inherited]

vector<int> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::lastOtherRobotPoseNum [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::maxDetectionBearing [inherited]

Maximum (and negative minimum) detection angle of bearing.

int MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::maxNumComponents [inherited]

Maximum number of allowed gaussians in the belief.

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::mergThresh [inherited]

Merging threshold.

All the components of the belief whose relative Mahalanobis square distance is lower than this value will be merged.

int MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::myId [inherited]

Id of the robot performing the PHD with camera inputs.

Odometry2DTimeArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myLastOdom [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myLastYaw [inherited]

Odometry2DTimeArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myOdo [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::myYaw [inherited]

DMat MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::N_n_z [inherited]

Covariance of the measurement noise n_z in the measure model: z = Hx + n_z.

vector<Position2DArma> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::newBorder [inherited]

vector<Position2DArma> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::newMeas [inherited]

vector<Decimal> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::notDetectionProbabilityProd [inherited]

map<int,Pose2DArma> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::odometries [inherited]

int MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::partNumber [inherited]

Number of particles for the orientation.

MipAlgorithms::PHDFilterTypeName [static]

Initial value:

{
   "GMLinearNoId",
   "GMUnicycle2DId",
   "GMUnicycle2DIdRoboCentric",
   "GMUnicycle2DIdCoop",
   "GMUnicycle2DIdCoop2",
   "GMUnicycle2DIdRoboCentricCoop",
   "GMUnicycle2DId3Coop",
   "GMUnicycle2DId4Coop",
   "GMUnicycle2DIdCentr",
   "GMUnicycle2DNoId",
   "GMUnicycle2DIdRoboCentricCam",
   "NoPHD:EKFOnly",
   "GMIDUnicycle2DRC"
 }

Names of all types of implemented PHD filters.

These names are very important, since the StringOption in the PHDFilterTask that determines the type of the filter refers to these names.

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::pitch [inherited]

Position3DArma* MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::posSonarQuad [inherited]

Relative position between quadrotor and sonar reference frames (w.r.t. quadrotor reference frame).

vector<DMat> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedCovariances [inherited]

vector<vector<Decimal> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedCovariancesOth [inherited]

vector<DCol> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasures [inherited]

vector<Angle> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasuresB [inherited]

vector<Decimal> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasuresD [inherited]

vector<vector<Decimal> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::predictedMeasuresOth [inherited]

GaussianMixtureJointId MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::prediction [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::roll [inherited]

Roto3DArma MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::rotCameraQuadTrans [inherited]

Rotation matrix between camera and quadrotor (w.r.t. quadrotor reference frame) transpose.

Roto3DArma* MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::rotoQuadMobRob [inherited]

Rotation matrix between quadrotor and mobile robot when the former is in hovering (if data of quadrotor is in NED and mobile robot is NWU, one needs a transformation between them).

Roto3DArma* MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::rotSonarQuad [inherited]

Rotation matrix between quadrotor and sonar reference frames (w.r.t. quadrotor reference frame).

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::sensorDetectionRay [inherited]

Maximum detection ray of the sensor.

vector<vector<Decimal> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::sensorWeightsOth [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::sensorWeightSum [inherited]

vector<DMat> MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::stepKCovariances [inherited]

vector<vector<DMat> > MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterVars::stepKCovariancesOth [inherited]

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::targetDimension [inherited]

Target dimension.

Decimal MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::truncThresh [inherited]

Truncation treshold.