MipAlgorithms::MutLocFilter3D Class Reference

Represents a generic filter for the mutual localization in 3D. More...

#include <MutLoc.h>

Inheritance diagram for MipAlgorithms::MutLocFilter3D:

List of all members.

Public Member Functions
virtual void	step (MutLocFilInput3D &input)=0
	Generic step function.
virtual void	reset ()=0
	Reset function: reset the filter.
virtual int	getEstimate (Pose3D *best, Velocity3D *bestVel=0)=0
	Get the estimate with the highest value.
virtual int	getCovariance (MIPMatrix *cov)
	Get the covariance of the estimate.
virtual int	getAllEstimates (vector< Pose3D > &all, vector< Decimal > &allMarks, vector< Velocity3D > &velEstimates)=0
	Get the cluster with the highest value.
virtual string	print ()=0
	Print function.
	MutLocFilter3D ()
	Default constructor.
	~MutLocFilter3D ()
	Destructor.
void	init ()
	Set true initialized bool.
void	uninit ()
	Set false initialize bool.
bool	initialized ()
	Return if initialized.
bool	firstPosteriorComputed ()
	Says if the first Posterior density function has been computed.
void	setFirstPosteriorComputed ()
	Sets that the first Posterior density function has been computed.

---

Detailed Description

Represents a generic filter for the mutual localization in 3D.

Author:

Marco Cognetti

---

Constructor & Destructor Documentation

MipAlgorithms::MutLocFilter3D::MutLocFilter3D

(

)

Default constructor.

MipAlgorithms::MutLocFilter3D::~MutLocFilter3D

(

)

Destructor.

---

Member Function Documentation

virtual void MipAlgorithms::MutLocFilter3D::step

(

MutLocFilInput3D &

input

)

[pure virtual]

Generic step function.

Parameters:

[in]

&input

MutLocFilInput3D that provides all variables needed by a single step of the filter

Implemented in MipAlgorithms::PaFilBFL3D, MipAlgorithms::PaFilBFLRelRel3D, MipAlgorithms::PaFilBFLRelRelBearOnly3D, MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel, and MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate.

virtual void MipAlgorithms::MutLocFilter3D::reset

(

)

[pure virtual]

Reset function: reset the filter.

Implemented in MipAlgorithms::PaFilBFL3D, MipAlgorithms::PaFilBFLRelRel3D, MipAlgorithms::PaFilBFLRelRelBearOnly3D, MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel, and MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate.

virtual int MipAlgorithms::MutLocFilter3D::getEstimate	(	Pose3D *	best,
		Velocity3D *	bestVel = 0
	)			[pure virtual]

Get the estimate with the highest value.

Parameters:

[out]

*best

Pointer to Pose3D in which is written the best estimate (i.e. the particle with highest weight).

Returns:

Number (int) of the cluster with the highest value (not reliable).

Implemented in MipAlgorithms::PaFilBFL3D.

virtual int MipAlgorithms::MutLocFilter3D::getCovariance

(

MIPMatrix *

cov

)

[inline, virtual]

Get the covariance of the estimate.

Parameters:

[out]

*best

Pointer to MIPMatrix in which is written the covariance.

Returns:

0.

Reimplemented in MipAlgorithms::PaFilBFL3D.

virtual int MipAlgorithms::MutLocFilter3D::getAllEstimates	(	vector< Pose3D > &	all,
		vector< Decimal > &	allMarks,
		vector< Velocity3D > &	velEstimates
	)			[pure virtual]

Get the cluster with the highest value.

Parameters:

[out]

&best

Vector of Pose3Ds in which all the estimates of the filter are written.

Returns:

Number (int) of the cluster with the highest value.

Implemented in MipAlgorithms::PaFilBFL3D.

virtual string MipAlgorithms::MutLocFilter3D::print

(

)

[pure virtual]

Print function.

Implemented in MipAlgorithms::PaFilBFL3D, MipAlgorithms::PaFilBFLRelRel3D, MipAlgorithms::PaFilBFLRelRelBearOnly3D, MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel, and MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate.

void MipAlgorithms::MutLocFilter3D::init

(

)

Set true initialized bool.

void MipAlgorithms::MutLocFilter3D::uninit

(

)

Set false initialize bool.

bool MipAlgorithms::MutLocFilter3D::initialized

(

)

Return if initialized.

bool MipAlgorithms::MutLocFilter3D::firstPosteriorComputed

(

)

[inline]

Says if the first Posterior density function has been computed.

void MipAlgorithms::MutLocFilter3D::setFirstPosteriorComputed

(

)

[inline]

Sets that the first Posterior density function has been computed.

---

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

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