MipAlgorithms::GMPHDUnicycle2DIdFilterPars 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 <GMPHDUnicycle2DIdFilter.h>

Inheritance diagram for MipAlgorithms::GMPHDUnicycle2DIdFilterPars:

List of all members.

Public Member Functions
	GMPHDUnicycle2DIdFilterPars ()
	Default constructor.
	GMPHDUnicycle2DIdFilterPars (Decimal pS, Decimal pD, Time t, DMat &nx, DMat &h, DMat &nz, Decimal tt, int mc, Decimal mt, int pN, Decimal sdr, Decimal td, Decimal mdb)
	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 orientation.
Decimal	sensorDetectionRay
	Maximum detection ray of the sensor.
Decimal	targetDimension
	Target dimension.
Decimal	maxDetectionBearing
	Maximum (and negative minimum) detection angle of bearing.

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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::GMPHDUnicycle2DIdFilterPars::GMPHDUnicycle2DIdFilterPars

(

)

Default constructor.

MipAlgorithms::GMPHDUnicycle2DIdFilterPars::GMPHDUnicycle2DIdFilterPars	(	Decimal	pS,
		Decimal	pD,
		Time	t,
		DMat &	nx,
		DMat &	h,
		DMat &	nz,
		Decimal	tt,
		int	mc,
		Decimal	mt,
		int	pN,
		Decimal	sdr,
		Decimal	td,
		Decimal	mdb
	)

Complete constructor.

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Member Data Documentation

DMat MipAlgorithms::GMPHDUnicycle2DIdFilterPars::N_n_x

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

DMat MipAlgorithms::GMPHDUnicycle2DIdFilterPars::H

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

DMat MipAlgorithms::GMPHDUnicycle2DIdFilterPars::N_n_z

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

Decimal MipAlgorithms::GMPHDUnicycle2DIdFilterPars::truncThresh

Truncation treshold.

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

int MipAlgorithms::GMPHDUnicycle2DIdFilterPars::maxNumComponents

Maximum number of allowed gaussians in the belief.

Decimal MipAlgorithms::GMPHDUnicycle2DIdFilterPars::mergThresh

Merging threshold.

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

int MipAlgorithms::GMPHDUnicycle2DIdFilterPars::partNumber

Number of particles for the orientation.

Decimal MipAlgorithms::GMPHDUnicycle2DIdFilterPars::sensorDetectionRay

Maximum detection ray of the sensor.

Decimal MipAlgorithms::GMPHDUnicycle2DIdFilterPars::targetDimension

Target dimension.

Decimal MipAlgorithms::GMPHDUnicycle2DIdFilterPars::maxDetectionBearing

Maximum (and negative minimum) detection angle of bearing.

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

• algorithms/PHDFilter/GMPHDUnicycle2DIdFilter.h
• algorithms/PHDFilter/GMPHDUnicycle2DIdFilter.cpp