MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars Class Reference
[Probability Hypotesis Density (PHD) Filter]

Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world. More...

#include <GMPHDUnicycle2DNoIdFilter.h>

Inheritance diagram for MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars:

List of all members.

Public Member Functions
	GMPHDUnicycle2DNoIdFilterPars ()
	Default constructor.
	GMPHDUnicycle2DNoIdFilterPars (Decimal pS, Decimal pD, Time t, DMat &nx, DMat &h, DMat &nz, Decimal tt, int mc, Decimal mt, int pN)
	Complete constructor.
Public Attributes
DMat	N_n_x
	Covariance of the process noise n_x in the system model: x_{k} = Ax_{k-1} + n_x.
DMat	H
	Matrix H in the measure model: z = Hx + n_z.
DMat	N_n_z
	Covariance of the measurement noise n_z in the measure model: z = Hx + n_z.
Decimal	truncThresh
	Truncation treshold.
int	maxNumComponents
	Maximum number of allowed gaussians in the belief.
Decimal	mergThresh
	Merging threshold.
int	partNumber
	number of particles for the oriantation

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Detailed Description

Provides a standard class for the parameters of a PHD filter for tracking of multiple objects in a 2D world.

Author:

Paolo Stegagno

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Constructor & Destructor Documentation

MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::GMPHDUnicycle2DNoIdFilterPars

(

)

Default constructor.

MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::GMPHDUnicycle2DNoIdFilterPars	(	Decimal	pS,
		Decimal	pD,
		Time	t,
		DMat &	nx,
		DMat &	h,
		DMat &	nz,
		Decimal	tt,
		int	mc,
		Decimal	mt,
		int	pN
	)

Complete constructor.

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Member Data Documentation

DMat MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::N_n_x

Covariance of the process noise n_x in the system model: x_{k} = Ax_{k-1} + n_x.

DMat MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::H

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

DMat MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::N_n_z

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

Decimal MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::truncThresh

Truncation treshold.

All the gaussians in the belief having a weight lower than this threshold will be neglected.

int MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::maxNumComponents

Maximum number of allowed gaussians in the belief.

Decimal MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::mergThresh

Merging threshold.

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

int MipAlgorithms::GMPHDUnicycle2DNoIdFilterPars::partNumber

number of particles for the oriantation

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

• algorithms/PHDFilter/GMPHDUnicycle2DNoIdFilter.h
• algorithms/PHDFilter/GMPHDUnicycle2DNoIdFilter.cpp