MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars 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 <GMPHDUnicycle2DCamIdRCFilter.h>

Inheritance diagram for MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars:

List of all members.

Public Member Functions
string	print ()
	Print function.
	GMPHDUnicycle2DCamIdRCFilterPars ()
	Default constructor.
	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.
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.
bool	useNewNoMeasWeight
	Wether or not.
CameraPar3DArma *	camPars
	Camera parameters.
int	myId
	Id of the robot performing the PHD with camera inputs.
Roto3DArma *	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 *	rotSonarQuad
	Rotation matrix between quadrotor and sonar reference frames (w.r.t. quadrotor reference frame).
Roto3DArma	rotCameraQuadTrans
	Rotation matrix between camera and quadrotor (w.r.t. quadrotor reference frame) transpose.
Position3DArma *	posSonarQuad
	Relative position between quadrotor and sonar reference frames (w.r.t. quadrotor reference frame).
bool	vertZSonarAlgo
	Specify if the sonar measurement provides vertical height (false) or along z-axis of the sensor (true).

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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:

Marco Cognetti

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Member Data Documentation

DMat MipAlgorithms::GMPHDUnicycle2DCamIdRCFilterPars::N_n_x

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

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

• algorithms/PHDFilter/GMPHDUnicycle2DCamIdRCFilter.h
• algorithms/PHDFilter/GMPHDUnicycle2DCamIdRCFilter.cpp