MipAlgorithms::DAEKFilter Class Reference

Data Association Extended Kalman implementation of the MutLocFilter class. More...

#include <DAEKF.h>

Inheritance diagram for MipAlgorithms::DAEKFilter:

List of all members.

Public Member Functions
	DAEKFilter ()
	Default constructor.
	DAEKFilter (DAEKFilParams in)
	Complete constructor.
void	step (MutLocFilInput &input)
	Provided step function for the mutual localization.
void	reset ()
	Reset function.
int	getEstimate (Pose *best)
	Provide the best current estimate.
int	getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks)
	Provide all estimates.
string	print ()
	Print function.
void	reset (DAEKFilParams inPar)
	Reset function.
int	getStep ()
	Get the step number of the filter.
int	getPhase ()
	Get the phase of the filter.
int	getClustersNumber ()
	Get the number of the clusters of the filter.
Pose	getClustersMean (int num)
	Get the mean of a cluster.
Decimal	getClustersValue (int num)
	Get the value of a cluster.
Protected Attributes
DAEKFilParams	par
	Parameters of the DAEK filter.
DAEKFilVariables *	var
	Variables of the DAEK filter.

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Detailed Description

Data Association Extended Kalman implementation of the MutLocFilter class.

Author:

Paolo Stegagno

---

Constructor & Destructor Documentation

MipAlgorithms::DAEKFilter::DAEKFilter

(

)

Default constructor.

MipAlgorithms::DAEKFilter::DAEKFilter

(

DAEKFilParams

in

)

Complete constructor.

---

Member Function Documentation

void MipAlgorithms::DAEKFilter::step

(

MutLocFilInput &

input

)

[virtual]

Provided step function for the mutual localization.

Implements MipAlgorithms::MutLocFilter.

void MipAlgorithms::DAEKFilter::reset

(

)

[virtual]

Reset function.

Note:

Dummy, it doesn't work.

Implements MipAlgorithms::MutLocFilter.

int MipAlgorithms::DAEKFilter::getEstimate

(

Pose *

best

)

[virtual]

Provide the best current estimate.

Parameters:

[out]

*best

Where the best estimate is written.

Implements MipAlgorithms::MutLocFilter.

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

Provide all estimates.

Parameters:

[out]

$all

Vector of Poses where all estimates are written.

Implements MipAlgorithms::MutLocFilter.

string MipAlgorithms::DAEKFilter::print

(

)

[virtual]

Print function.

Returns:

A string with the filter printed on.

stampa lo stato del filtro su file

Parameters:

file

puntatore a file di output

Implements MipAlgorithms::MutLocFilter.

void MipAlgorithms::DAEKFilter::reset

(

DAEKFilParams

inPar

)

Reset function.

Parameters:

[in]

inPar,New

parameters of the filter.

int MipAlgorithms::DAEKFilter::getStep

(

)

Get the step number of the filter.

int MipAlgorithms::DAEKFilter::getPhase

(

)

Get the phase of the filter.

int MipAlgorithms::DAEKFilter::getClustersNumber

(

)

Get the number of the clusters of the filter.

Pose MipAlgorithms::DAEKFilter::getClustersMean

(

int

num

)

Get the mean of a cluster.

Parameters:

[in]

num

Integer representing the number of the cluster of which the mean is required.

Returns:

Pose, the mean of the cluster.

Decimal MipAlgorithms::DAEKFilter::getClustersValue

(

int

num

)

Get the value of a cluster.

Parameters:

[in]

num

Integer representing the number of the cluster of which the value is required.

Returns:

Decimal, the value of the cluster.

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Member Data Documentation

DAEKFilParams MipAlgorithms::DAEKFilter::par [protected]

Parameters of the DAEK filter.

DAEKFilVariables* MipAlgorithms::DAEKFilter::var [protected]

Variables of the DAEK filter.

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

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