MipAlgorithms::GMPHDUnicycle2DIdCoopFilter Class Reference
[Probability Hypotesis Density (PHD) Filter]

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

#include <GMPHDUnicycle2DIdCoopFilter.h>

Inheritance diagram for MipAlgorithms::GMPHDUnicycle2DIdCoopFilter:

List of all members.

Public Member Functions
	GMPHDUnicycle2DIdCoopFilter ()
	Default constructor.
	GMPHDUnicycle2DIdCoopFilter (GMPHDUnicycle2DIdCoopFilterPars inParams)
	Parametrical constructor.
void	step (PHDFilterIn &in)
string	print ()
void	getBelief (GaussianMixtureJointId &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)
virtual void	_predictExistingTarget ()
	TODO IMPLEMENT void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_predictBirthTarget().
void	_findMyBestEstimate ()
virtual void	_buildPHDUpdateComponents (PHDFilterIn &in)
virtual void	_updateWithMeasurements (PHDFilterIn &in)
virtual void	_updateWithNoMeasurements (PHDFilterIn &in)
void	_transformOtherMeasurements (PHDFilterIn &in)
void	_findAllSensors (PHDFilterIn &in)
void	_buildOtherPHDUpdateComponents (PHDFilterIn &in)
virtual void	_buildOtherPHDUpdateComponentsSingle (PHDFilterIn &in, int sensId)
virtual void	_updateWithOtherNoDetection (PHDFilterIn &in, int measIndex)
virtual void	_updateWithOtherMeasurements (PHDFilterIn &in, int measIndex)
void	_prune ()
void	_pruneSimple ()
virtual void	_initialize (PHDFilterIn &in)
void	_normalStep (PHDFilterIn &in)
Decimal	_mahalanobisDist (GaussianComponent &a, GaussianComponent &b)
Protected Attributes
GMPHDUnicycle2DIdCoopFilterVars *	_gmvars
GMPHDUnicycle2DIdCoopFilterPars *	_gmpars

---

Detailed Description

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

Author:

Paolo Stegagno

---

Constructor & Destructor Documentation

MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::GMPHDUnicycle2DIdCoopFilter

(

)

Default constructor.

MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::GMPHDUnicycle2DIdCoopFilter

(

GMPHDUnicycle2DIdCoopFilterPars

inParams

)

Parametrical constructor.

---

Member Function Documentation

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::step

(

PHDFilterIn &

in

)

[virtual]

Implements MipAlgorithms::PHDFilter.

string MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::print

(

)

[virtual]

Implements MipAlgorithms::PHDFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::getBelief

(

GaussianMixtureJointId &

gm

)

[virtual]

Reimplemented from MipAlgorithms::PHDFilter.

Pose MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::getMyBestPose

(

)

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::setMyPose

(

Pose &

p

)

string MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::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.

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopFilter2, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

PHDFilterOutputType MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::getOutputType

(

)

[inline, virtual]

Implements MipAlgorithms::PHDFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_computeOdometries

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_predictBirthTarget

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_predictExistingTarget

(

)

[protected, virtual]

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

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_findMyBestEstimate

(

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_buildPHDUpdateComponents

(

PHDFilterIn &

in

)

[protected, virtual]

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_updateWithMeasurements

(

PHDFilterIn &

in

)

[protected, virtual]

_gmvars->prediction[j].weight

FIXME missing intensity of clutter RFS

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopFilter2, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_updateWithNoMeasurements

(

PHDFilterIn &

in

)

[protected, virtual]

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopFilter2, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_transformOtherMeasurements

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_findAllSensors

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_buildOtherPHDUpdateComponents

(

PHDFilterIn &

in

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_buildOtherPHDUpdateComponentsSingle	(	PHDFilterIn &	in,
		int	sensId
	)			[protected, virtual]

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_updateWithOtherNoDetection	(	PHDFilterIn &	in,
		int	measIndex
	)			[protected, virtual]

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopFilter2, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_updateWithOtherMeasurements	(	PHDFilterIn &	in,
		int	measIndex
	)			[protected, virtual]

_gmvars->prediction[j].weight

FIXME missing intensity of clutter RFS

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoop3Filter, MipAlgorithms::GMPHDUnicycle2DIdCoop4Filter, MipAlgorithms::GMPHDUnicycle2DIdCoopFilter2, MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_prune

(

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_pruneSimple

(

)

[protected]

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_initialize

(

PHDFilterIn &

in

)

[protected, virtual]

Implements MipAlgorithms::PHDFilter.

Reimplemented in MipAlgorithms::GMPHDUnicycle2DIdCoopRCFilter, and MipAlgorithms::GMPHDUnicycle2DIdRCFilter.

void MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_normalStep

(

PHDFilterIn &

in

)

[protected, virtual]

Implements MipAlgorithms::PHDFilter.

Decimal MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_mahalanobisDist	(	GaussianComponent &	a,
		GaussianComponent &	b
	)			[protected]

---

Member Data Documentation

GMPHDUnicycle2DIdCoopFilterVars* MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_gmvars [protected]

GMPHDUnicycle2DIdCoopFilterPars* MipAlgorithms::GMPHDUnicycle2DIdCoopFilter::_gmpars [protected]

---

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

• algorithms/PHDFilter/GMPHDUnicycle2DIdCoopFilter.h
• algorithms/PHDFilter/GMPHDUnicycle2DIdCoopFilter.cpp