MipAlgorithms::GMIDPHDUnicycle2DRCFilter Class Reference
[Probability Hypotesis Density (PHD) Filter]

Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors. More...

#include <GMIDPHDUnicycle2DRCFilter.h>

Inheritance diagram for MipAlgorithms::GMIDPHDUnicycle2DRCFilter:

List of all members.

Public Member Functions
	GMIDPHDUnicycle2DRCFilter ()
	Default constructor.
	GMIDPHDUnicycle2DRCFilter (GMIDPHDUnicycle2DRCFilterPars inParams)
	Parametrical constructor.
void	step (PHDFilterIn &in)
string	print ()
void	getBelief (GaussianMixtureID &gm)
Pose	getMyBestPose ()
void	setMyPose (Pose &p)
string	getObjectName () const
	Method that gives the name of the class as it will be displayed by the tracer.
PHDFilterOutputType	getOutputType ()
Protected Member Functions
void	_computeOdometries (PHDFilterIn &in)
void	_predictBirthTarget (PHDFilterIn &in)
void	_predictExistingTarget ()
	TODO IMPLEMENT void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_predictBirthTarget().
void	_buildPHDUpdateComponents (PHDFilterIn &in)
void	_updateWithNoMeasurements (PHDFilterIn &in)
void	_updateWithMeasurements (PHDFilterIn &in)
void	_prune ()
void	_pruneSimple ()
void	_initialize (PHDFilterIn &in)
void	_normalStep (PHDFilterIn &in)
Decimal	_mahalanobisDist (GaussianComponent &a, GaussianComponent &b)
Protected Attributes
GMIDPHDUnicycle2DRCFilterVars *	_gmvars
GMIDPHDUnicycle2DRCFilterPars *	_gmpars

---

Detailed Description

Provides an implementation for a PHD filter for tracking of multiple unicycles in a 2D world with multiple sensors.

Author:

Paolo Stegagno

---

Constructor & Destructor Documentation

MipAlgorithms::GMIDPHDUnicycle2DRCFilter::GMIDPHDUnicycle2DRCFilter

(

)

Default constructor.

MipAlgorithms::GMIDPHDUnicycle2DRCFilter::GMIDPHDUnicycle2DRCFilter

(

GMIDPHDUnicycle2DRCFilterPars

inParams

)

Parametrical constructor.

---

Member Function Documentation

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::step

(

PHDFilterIn &

in

)

[virtual]

Implements MipAlgorithms::PHDFilter.

string MipAlgorithms::GMIDPHDUnicycle2DRCFilter::print

(

)

[virtual]

Implements MipAlgorithms::PHDFilter.

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::getBelief

(

GaussianMixtureID &

gm

)

[virtual]

Reimplemented from MipAlgorithms::PHDFilter.

Pose MipAlgorithms::GMIDPHDUnicycle2DRCFilter::getMyBestPose

(

)

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::setMyPose

(

Pose &

p

)

string MipAlgorithms::GMIDPHDUnicycle2DRCFilter::getObjectName

(

)

const [inline, virtual]

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::GMIDPHDUnicycle2DRCFilter::getOutputType

(

)

[inline, virtual]

Implements MipAlgorithms::PHDFilter.

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_computeOdometries

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_predictBirthTarget

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_predictExistingTarget

(

)

[protected]

TODO IMPLEMENT void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_predictBirthTarget().

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_buildPHDUpdateComponents

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_updateWithNoMeasurements

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_updateWithMeasurements

(

PHDFilterIn &

in

)

[protected]

_gmvars->prediction[j].weight

FIXME missing intensity of clutter RFS

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_prune

(

)

[protected]

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_pruneSimple

(

)

[protected]

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_initialize

(

PHDFilterIn &

in

)

[protected, virtual]

Implements MipAlgorithms::PHDFilter.

void MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_normalStep

(

PHDFilterIn &

in

)

[protected, virtual]

Implements MipAlgorithms::PHDFilter.

Decimal MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_mahalanobisDist	(	GaussianComponent &	a,
		GaussianComponent &	b
	)			[protected]

---

Member Data Documentation

GMIDPHDUnicycle2DRCFilterVars* MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_gmvars [protected]

GMIDPHDUnicycle2DRCFilterPars* MipAlgorithms::GMIDPHDUnicycle2DRCFilter::_gmpars [protected]

---

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

• algorithms/PHDFilter/GMIDPHDUnicycle2DRCFilter.h
• algorithms/PHDFilter/GMIDPHDUnicycle2DRCFilter.cpp