MipAlgorithms::MutLocFASTSlam Class Reference

Represents a FASTslam derived filter for the mutual localization. More...

#include <MutLocFASTSlam.h>

List of all members.

Public Member Functions
void	step (MutLocFASTSlamInput &input)
	Generic step function.
virtual int	getEstimate (Pose *best, int hisIds)
	Reset function: reset the filter.
virtual int	getMeanEstimate (Pose *mean, int hisIds)
	Get the estimate as a mean of all the estimates.
virtual int	getCovariance (MIPMatrix *cov)
	Get the covariance of the estimate.
virtual int	getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks, int id)
	Get the cluster with the highest value.
virtual int	getAllFeatures (vector< Position > &all, vector< Decimal > &allMarks)
	Get the cluster with the highest value.
	MutLocFASTSlam ()
	Print function.
	~MutLocFASTSlam ()
	Destructor.

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Detailed Description

Represents a FASTslam derived filter for the mutual localization.

Author:

Paolo Stegagno

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Constructor & Destructor Documentation

MipAlgorithms::MutLocFASTSlam::MutLocFASTSlam

(

)

Print function.

Default constructor.

MipAlgorithms::MutLocFASTSlam::~MutLocFASTSlam

(

)

Destructor.

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Member Function Documentation

void MipAlgorithms::MutLocFASTSlam::step

(

MutLocFASTSlamInput &

input

)

Generic step function.

Parameters:

[in]

&input

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

int MipAlgorithms::MutLocFASTSlam::getEstimate	(	Pose *	best,
		int	hisIds
	)			[virtual]

Reset function: reset the filter.

Get the estimate with the highest value.

Parameters:

[out]

*best

Pointer to Pose in which is written the best estimate.

Returns:

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

int MipAlgorithms::MutLocFASTSlam::getMeanEstimate	(	Pose *	mean,
		int	hisIds
	)			[virtual]

Get the estimate as a mean of all the estimates.

Parameters:

[out]

*mean

Pointer to Pose in which is written the estimate.

Returns:

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

virtual int MipAlgorithms::MutLocFASTSlam::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.

int MipAlgorithms::MutLocFASTSlam::getAllEstimates	(	vector< Pose > &	all,
		vector< Decimal > &	allMarks,
		int	id
	)			[virtual]

Get the cluster with the highest value.

Parameters:

[out]	&best	Vector of Poses in which all the estimates of the filter are written.
[out]	&allMarks	Vector of weigths of the poses in which all the estimates of the filter are written.

Returns:

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

int MipAlgorithms::MutLocFASTSlam::getAllFeatures	(	vector< Position > &	all,
		vector< Decimal > &	allMarks
	)			[virtual]

Get the cluster with the highest value.

Parameters:

[out]	&best	Vector of Poses in which all the estimates of the filter are written.
[out]	&allMarks	Vector of weigths of the poses in which all the estimates of the filter are written.

Returns:

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

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

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