#include <GMIDPHDUnicycle2DRCFilter.h>
Public Member Functions | |
GMIDPHDUnicycle2DRCFilterPars () | |
Default constructor. | |
GMIDPHDUnicycle2DRCFilterPars (int mI, 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, bool unw=false) | |
Complete constructor. | |
Public Attributes | |
int | myId |
Id of the owner of the filter. | |
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. |
MipAlgorithms::GMIDPHDUnicycle2DRCFilterPars::GMIDPHDUnicycle2DRCFilterPars | ( | ) |
Default constructor.
MipAlgorithms::GMIDPHDUnicycle2DRCFilterPars::GMIDPHDUnicycle2DRCFilterPars | ( | int | mI, | |
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, | |||
bool | unw = false | |||
) |
Complete constructor.
Id of the owner of the filter.
Covariance of the process noise n_x in the system model: x_{k} = Ax_{k-1} + n_x.
Matrix H in the measure model: z = Hx + n_z.
Covariance of the measurement noise n_z in the measure model: z = Hx + n_z.
Truncation treshold.
All the gaussians in the belief having a weight lower than this threshold will be neglected.
Maximum number of allowed gaussians in the belief.
Merging threshold.
All the components of the belief whose relative Mahalanobis square distance is lower than this value will be merged.
Number of particles for the orientation.
Maximum detection ray of the sensor.
Target dimension.
Maximum (and negative minimum) detection angle of bearing.
Wether or not.