Mutual localization
[Algorithms]

Filter for the mutual localization. More...


Namespaces
namespace	MipAlgorithms
	This namespace includes all classes related to algorithms.
Classes
class	Particle
	Class represents a filter particle. More...
class	CLPaFilParams
	Represents the Particle Filter parameters. More...
class	CLPaFilVariables
	Represents Particle Filter internal variables. More...
class	ParticleFilter
	Particle Filter implementation of the LocFilter class. More...
class	KalmanFilter
	Represents a Kalman Filter. More...
class	KalmanFilterImu
	Represents a Kalman Filter. More...
class	MipAlgorithms::Particle
	Class represents a filter particle. More...
class	MipAlgorithms::ParFilParams
	Represents the Particle Filter parameters. More...
class	MipAlgorithms::ParFilVariables
	Represents Particle Filter internal variables. More...
class	MipAlgorithms::ParticleFilter
	Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::PaFilBFLPar
	Parameters for the generic orocos-bfl based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::PaFilBFL
	Generic orocos-bfl based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::PaFilBFL3D
	Generic orocos-bfl based Particle Filter in 3D implementation of the MutLocFilter3D class. More...
class	MipAlgorithms::PaFilBFLAbsRel
	orocos-bfl based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::PaFilBFLRelRel
	orocos-bfl based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::NonlinearMeasurementRelRel3DPdf
	Non Linear Conditional Gaussian. More...
class	MipAlgorithms::PaFilBFLRelRel3D
	Orocos-BFL based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::NonlinearMeasurementRelRelBearOnlyPdf
	Non Linear Conditional Gaussian. More...
class	MipAlgorithms::PaFilBFLRelRelBearOnly
	orocos-bfl based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdf
	Non Linear Conditional Gaussian. More...
class	MipAlgorithms::PaFilBFLRelRelBearOnly3D
	Orocos-BFL based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DvelPdf
	Non Linear Conditional Gaussian. More...
class	MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel
	Orocos-BFL based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdfvelUpdate
	Non Linear Conditional Gaussian. More...
class	MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate
	Orocos-BFL based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::NonlinearMeasurementRelRelNoMRPdf
	Non Linear Conditional Gaussian. More...
class	MipAlgorithms::PaFilBFLRelRelNoMR
	orocos-bfl based Particle Filter implementation of the MutLocFilter class. More...
class	MipAlgorithms::RelParticle
	Class represents a particle of the Relative Mutual localization particle filter. More...
class	MipAlgorithms::RelPaFilParams
	Represents the RelParticle Filter parameters. More...
class	MipAlgorithms::RelPaFilVariables
	Represents RelParticle Filter internal variables. More...
class	MipAlgorithms::RelParticleFilter
	RelParticle Filter implementation of the MutLocFilter class. More...
Defines
#define	GRAV 9.81
#define	EPSILON 0.01
#define	A_ROW 3
#define	A_COL 3
#define	C_ROW 2
#define	C_COL 3
#define	Pp_ROW 3
#define	Pp_COL 3
#define	K_ROW 3
#define	K_COL 2
#define	P_ROW 3
#define	P_COL 3
#define	F_ROW 3
#define	F_COL 3
#define	G_ROW 2
#define	G_COL 2
#define	OUT_PRED_ROWS 2
#define	GPS_MEAS 2
#define	ENC_MEAS 3
#define	GRAV 9.81
#define	EPSILON 0.01
#define	A_ROW_IMU 5
#define	A_COL_IMU 5
#define	C_ROW_IMU 5
#define	C_COL_IMU 5
#define	Pp_ROW_IMU 5
#define	Pp_COL_IMU 5
#define	K_ROW_IMU 5
#define	K_COL_IMU 5
#define	P_ROW_IMU 5
#define	P_COL_IMU 5
#define	F_ROW_IMU 5
#define	F_COL_IMU 5
#define	G_ROW_IMU 5
#define	G_COL_IMU 5
#define	OUT_PRED_ROWS_IMU 5
#define	OUT_MEAS_ROWS_IMU 5
#define	GPS_MEAS_IMU 2
#define	ENC_MEAS_IMU 5
#define	ACC_MEAS_IMU 3
#define	GYRO_MEAS_IMU 3
#define	MAGN_MEAS_IMU 3
#define	CLMEMORY 100
#define	KILLPERCENT 0.85
#define	INITVALUE 0.8
#define	MAXCLSTNUMBER 500
#define	EKFILTERUNICYCLE2D_NUMPARTICLES 1000
Enumerations
enum	MipAlgorithms::ParticleFilterType { MipAlgorithms::ABS, MipAlgorithms::REL }
	Determines whether the filter map is stored as relative (set of ixj) or absolute (set of Ixj). More...
Functions
	Particle::Particle ()
	Default constructor.
	Particle::Particle (Pose a, Decimal w)
	Complete constructor.
	Particle::Particle (const Particle &A)
	Copy constructor.
void	Particle::operator= (const Particle &A)
	Operator =.
string	Particle::print ()
	Print particle data.
	CLPaFilParams::CLPaFilParams ()
	Default constructor.
	CLPaFilParams::CLPaFilParams (int N, Decimal sx, Decimal sy, Decimal sth, Decimal sev_x, Decimal sev_y, Decimal sev_th, int fac, int hId, ParticleFilterType ty, int tmp)
	Complete constructor.
	CLPaFilParams::CLPaFilParams (const CLPaFilParams &A)
	Copy constructor.
void	CLPaFilParams::operator= (const CLPaFilParams &A)
	Operator =.
string	CLPaFilParams::print ()
	Print CLPaFilParams.
	CLPaFilVariables::CLPaFilVariables ()
	Default Costructor.
	CLPaFilVariables::CLPaFilVariables (const CLPaFilVariables &A)
	Copy constructor.
CLPaFilVariables	CLPaFilVariables::operator= (CLPaFilVariables &A)
	Operator =.
	CLPaFilVariables::~CLPaFilVariables ()
	Complete destructor.
string	CLPaFilVariables::print ()
	Print CLPaFilVariables.
	ParticleFilter::ParticleFilter (CLPaFilParams in)
	Complete constructor.
void	ParticleFilter::step (LocFilInput &input)
	Particle Filter step.
void	ParticleFilter::reset ()
	Reset Particle Filter.
void	ParticleFilter::getInternalEstimate (LocFilInput &input, vector< Particle > &last_map)
	Launches the appropriate getInternalEstimate function.
void	ParticleFilter::getInternalEstimate_abs (LocFilInput &input, vector< Particle > &last_map)
	Compute the best available estimate of IxJ - ABS version.
void	ParticleFilter::getInternalEstimate_rel (LocFilInput &input, vector< Particle > &last_map)
	Compute the best available estimate of IxJ - REL version.
int	ParticleFilter::getEstimate (Pose *best)
	Provide the best available estimate.
int	ParticleFilter::getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks)
	Provide all the present estimates.
void	ParticleFilter::updateVar (LocFilInput &input, vector< Particle > &last_map, int &caso)
	Save filter status and prepare next iteration.
string	ParticleFilter::print ()
	Print.
void	ParticleFilter::reset (CLPaFilParams inPar)
	Reset filter status.
int	ParticleFilter::getStep ()
	Get the step (int) of the filter.
Pose	ParticleFilter::getIxi ()
	Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.
Pose	ParticleFilter::getJxj ()
	Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.
void	ParticleFilter::ComputeWeights (LocFilInput &input, int &caso)
	Launches the appropriate version of ComputeWeight function.
void	ParticleFilter::ComputeWeights_abs (LocFilInput &input, int &caso)
	Assign weight to each particle - version ABS.
void	ParticleFilter::ComputeWeights_rel (LocFilInput &input, int &caso)
	Assign weight to each particle - version REL.
vector< Particle >	ParticleFilter::Resample ()
	Select particles randomly according to their weight.
void	ParticleFilter::OutputPerformance (LocFilInput &input)
	Output results writing them on text files.
	KalmanFilter::KalmanFilter (string namefile)
	Default constructor.
	KalmanFilter::~KalmanFilter ()
void	KalmanFilter::setAppliedForce (Decimal F)
void	KalmanFilter::setAppliedTorque (Decimal To)
void	KalmanFilter::setCycleTime (Decimal T)
void	KalmanFilter::setCurrentRobotPlane (int Plane)
void	KalmanFilter::setGPSAvailability ()
	Set availability of GPS measures.
void	KalmanFilter::unsetGPSAvailability ()
	Unset availability of GPS measures.
Decimal	KalmanFilter::getAppliedForce ()
Decimal	KalmanFilter::getAppliedTorque ()
Decimal	KalmanFilter::getCycleTime ()
int	KalmanFilter::getCurrentRobotPlane ()
int	KalmanFilter::getGPSAvailability ()
MIPMatrix *	KalmanFilter::getRobStatus ()
bool	KalmanFilter::TranslateGPSMeasures (Position3D &pos)
void	KalmanFilter::processENCMeasures (Decimal d_x, Decimal d_y, Angle d_theta)
void	KalmanFilter::PositionErrorEstimate (Position3D &pos)
void	KalmanFilter::updateKalmanFilter ()
	KalmanFilterImu::KalmanFilterImu (string namefile)
	Default constructor.
	KalmanFilterImu::~KalmanFilterImu ()
void	KalmanFilterImu::setAppliedForce (Decimal F)
void	KalmanFilterImu::setAppliedTorque (Decimal To)
void	KalmanFilterImu::setCycleTime (Decimal T)
void	KalmanFilterImu::setCurrentRobotPlane (int Plane)
void	KalmanFilterImu::setGPSAvailability ()
	Set availability of GPS measures.
void	KalmanFilterImu::unsetGPSAvailability ()
	Unset availability of GPS measures.
Decimal	KalmanFilterImu::getAppliedForce ()
Decimal	KalmanFilterImu::getAppliedTorque ()
Decimal	KalmanFilterImu::getCycleTime ()
int	KalmanFilterImu::getCurrentRobotPlane ()
int	KalmanFilterImu::getGPSAvailability ()
MIPMatrix *	KalmanFilterImu::getRobStatus ()
void	KalmanFilterImu::updateENCMeasuresTime (Decimal Time)
void	KalmanFilterImu::updateIMUMeasuresTime (Decimal Time)
void	KalmanFilterImu::updateGPSMeasuresTime (Decimal Time)
void	KalmanFilterImu::ProcessENCMeasures (MIPMatrix *RobStat)
void	KalmanFilterImu::ProcessIMUMeasures (Acceleration3D &acc, Acceleration3D &gyro, Orientation3D &magn)
bool	KalmanFilterImu::processGPSMeasures (Position3D &pos)
void	KalmanFilterImu::PositionErrorEstimate (Position3D &pos)
void	KalmanFilterImu::updateKalmanFilterImu ()
	MipAlgorithms::Particle::Particle ()
	Default constructor.
	MipAlgorithms::Particle::Particle (Pose a, Decimal w)
	Complete constructor.
	MipAlgorithms::Particle::Particle (const Particle &A)
	Copy constructor.
void	MipAlgorithms::Particle::operator= (const Particle &A)
	Operator =.
string	MipAlgorithms::Particle::print ()
	Print particle data.
	MipAlgorithms::ParFilParams::ParFilParams ()
	Default constructor.
	MipAlgorithms::ParFilParams::ParFilParams (int N, Decimal sx, Decimal sy, Decimal sth, Decimal sev_x, Decimal sev_y, Decimal sev_th, int fac, int hId, ParticleFilterType ty, int tmp)
	Complete constructor.
	MipAlgorithms::ParFilParams::ParFilParams (const ParFilParams &A)
	Copy constructor.
void	MipAlgorithms::ParFilParams::operator= (const ParFilParams &A)
	Operator =.
string	MipAlgorithms::ParFilParams::print ()
	Print ParFilParams.
	MipAlgorithms::ParFilVariables::ParFilVariables ()
	Default Costructor.
	MipAlgorithms::ParFilVariables::ParFilVariables (const ParFilVariables &A)
	Copy constructor.
ParFilVariables	MipAlgorithms::ParFilVariables::operator= (ParFilVariables &A)
	Operator =.
	MipAlgorithms::ParFilVariables::~ParFilVariables ()
	Complete destructor.
string	MipAlgorithms::ParFilVariables::print ()
	Print ParFilVariables.
	MipAlgorithms::ParticleFilter::ParticleFilter (ParFilParams in)
	Complete constructor.
void	MipAlgorithms::ParticleFilter::step (MutLocFilInput &input)
	Particle Filter step.
void	MipAlgorithms::ParticleFilter::reset ()
	Reset Particle Filter.
void	MipAlgorithms::ParticleFilter::getInternalEstimate (MutLocFilInput &input, vector< Particle > &last_map)
	Launches the appropriate getInternalEstimate function.
void	MipAlgorithms::ParticleFilter::getInternalEstimate_abs (MutLocFilInput &input, vector< Particle > &last_map)
	Compute the best available estimate of IxJ - ABS version.
void	MipAlgorithms::ParticleFilter::getInternalEstimate_rel (MutLocFilInput &input, vector< Particle > &last_map)
	Compute the best available estimate of IxJ - REL version.
int	MipAlgorithms::ParticleFilter::getEstimate (Pose *best)
	Provide the best available estimate.
int	MipAlgorithms::ParticleFilter::getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks)
	Provide all the present estimates.
void	MipAlgorithms::ParticleFilter::updateVar (MutLocFilInput &input, vector< Particle > &last_map, int &caso)
	Save filter status and prepare next iteration.
string	MipAlgorithms::ParticleFilter::print ()
	Print.
void	MipAlgorithms::ParticleFilter::reset (ParFilParams inPar)
	Reset filter status.
int	MipAlgorithms::ParticleFilter::getStep ()
	Get the step (int) of the filter.
Pose	MipAlgorithms::ParticleFilter::getIxi ()
	Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.
Pose	MipAlgorithms::ParticleFilter::getJxj ()
	Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.
void	MipAlgorithms::ParticleFilter::ComputeWeights (MutLocFilInput &input, int &caso)
	Launches the appropriate version of ComputeWeight function.
void	MipAlgorithms::ParticleFilter::ComputeWeights_abs (MutLocFilInput &input, int &caso)
	Assign weight to each particle - version ABS.
void	MipAlgorithms::ParticleFilter::ComputeWeights_rel (MutLocFilInput &input, int &caso)
	Assign weight to each particle - version REL.
vector< Particle >	MipAlgorithms::ParticleFilter::Resample ()
	Select particles randomly according to their weight.
void	MipAlgorithms::ParticleFilter::OutputPerformance (MutLocFilInput &input)
	Output results writing them on text files.
	MipAlgorithms::PaFilBFLPar::PaFilBFLPar (int parNum=100, Decimal ranPercent=0.0)
	MipAlgorithms::PaFilBFLPar::PaFilBFLPar (const PaFilBFLPar &pf)
PaFilBFLPar &	MipAlgorithms::PaFilBFLPar::operator= (const PaFilBFLPar &pf)
	MipAlgorithms::PaFilBFLPar::~PaFilBFLPar ()
	MipAlgorithms::PaFilBFL::PaFilBFL (PaFilBFLPar par)
	Parametrical constructor.
	MipAlgorithms::PaFilBFL::~PaFilBFL ()
	Destructor.
virtual void	MipAlgorithms::PaFilBFL::step (MutLocFilInput &input)=0
	Generic step function.
virtual void	MipAlgorithms::PaFilBFL::reset ()=0
	Reset the filter.
virtual int	MipAlgorithms::PaFilBFL::getEstimate (Pose *)
	Get the current estimate.
virtual int	MipAlgorithms::PaFilBFL::getCovariance (MIPMatrix *cov)
	Get the current covariance.
virtual int	MipAlgorithms::PaFilBFL::getAllEstimates (vector< Pose > &estimates, vector< Decimal > &weights)
	Get all current particles.
virtual string	MipAlgorithms::PaFilBFL::print ()
	Print function.
	MipAlgorithms::PaFilBFL3D::PaFilBFL3D (PaFilBFLPar par)
	Parametrical constructor.
	MipAlgorithms::PaFilBFL3D::~PaFilBFL3D ()
	Destructor.
virtual void	MipAlgorithms::PaFilBFL3D::step (MutLocFilInput3D &input)=0
	Generic step function.
virtual void	MipAlgorithms::PaFilBFL3D::reset ()=0
	Reset the filter.
virtual int	MipAlgorithms::PaFilBFL3D::getEstimate (Pose3D , Velocity3D bestVel=0)
	Get the current estimate.
virtual int	MipAlgorithms::PaFilBFL3D::getCovariance (MIPMatrix *cov)
	Get the current covariance.
virtual int	MipAlgorithms::PaFilBFL3D::getAllEstimates (vector< Pose3D > &estimates, vector< Decimal > &weights, vector< Velocity3D > &velEstimates)
	Get all current particles.
virtual Decimal	MipAlgorithms::PaFilBFL3D::getLastOdomUpdateTime ()
	Take the last time when a propagation step was performed.
virtual string	MipAlgorithms::PaFilBFL3D::print ()
	Print function.
virtual	MipAlgorithms::NonlinearMobileRobAbsRelPdf::~NonlinearMobileRobAbsRelPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobAbsRelPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
virtual	MipAlgorithms::NonlinearMeasurementAbsRelPdf::~NonlinearMeasurementAbsRelPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementAbsRelPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	MipAlgorithms::PaFilBFLAbsRel::~PaFilBFLAbsRel ()
	Destructor.
void	MipAlgorithms::PaFilBFLAbsRel::step (MutLocFilInput &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLAbsRel::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLAbsRel::print ()
	Print function.
virtual	MipAlgorithms::NonlinearMobileRobRelRelPdf::~NonlinearMobileRobRelRelPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRelPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
virtual	MipAlgorithms::NonlinearMeasurementRelRelPdf::~NonlinearMeasurementRelRelPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRelPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	MipAlgorithms::PaFilBFLRelRel::~PaFilBFLRelRel ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRel::step (MutLocFilInput &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRel::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRel::print ()
	Print function.
virtual	MipAlgorithms::NonlinearMobileRobRelRel3DPdf::~NonlinearMobileRobRelRel3DPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRel3DPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
	Implement this virtual function for system model of a particle filter.
virtual	MipAlgorithms::NonlinearMeasurementRelRel3DPdf::~NonlinearMeasurementRelRel3DPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRel3DPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	Implement this virtual function for measurement model of a particle filter.
	MipAlgorithms::PaFilBFLRelRel3D::~PaFilBFLRelRel3D ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRel3D::step (MutLocFilInput3D &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRel3D::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRel3D::print ()
	Print function.
Decimal	MipAlgorithms::PaFilBFLRelRel3D::getLastOdomUpdateTime ()
	Take the last time when a propagation step was performed.
virtual	MipAlgorithms::NonlinearMobileRobRelRelBearOnlyPdf::~NonlinearMobileRobRelRelBearOnlyPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRelBearOnlyPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
virtual	MipAlgorithms::NonlinearMeasurementRelRelBearOnlyPdf::~NonlinearMeasurementRelRelBearOnlyPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRelBearOnlyPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	MipAlgorithms::PaFilBFLRelRelBearOnly::~PaFilBFLRelRelBearOnly ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRelBearOnly::step (MutLocFilInput &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRelBearOnly::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRelBearOnly::print ()
	Print function.
virtual	MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DPdf::~NonlinearMobileRobRelRelBearOnly3DPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
	Implement this virtual function for system model of a particle filter.
virtual	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdf::~NonlinearMeasurementRelRelBearOnly3DPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	Implement this virtual function for measurement model of a particle filter.
	MipAlgorithms::PaFilBFLRelRelBearOnly3D::~PaFilBFLRelRelBearOnly3D ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRelBearOnly3D::step (MutLocFilInput3D &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRelBearOnly3D::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRelBearOnly3D::print ()
	Print function.
Decimal	MipAlgorithms::PaFilBFLRelRelBearOnly3D::getLastOdomUpdateTime ()
	Take the last time when a propagation step was performed.
virtual	MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DvelPdf::~NonlinearMobileRobRelRelBearOnly3DvelPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DvelPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
	Implement this virtual function for system model of a particle filter.
virtual	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DvelPdf::~NonlinearMeasurementRelRelBearOnly3DvelPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DvelPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	Implement this virtual function for measurement model of a particle filter.
	MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::~PaFilBFLRelRelBearOnly3Dvel ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::step (MutLocFilInput3D &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::print ()
	Print function.
Decimal	MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::getLastOdomUpdateTime ()
	Take the last time when a propagation step was performed.
virtual	MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DPdfvelUpdate::~NonlinearMobileRobRelRelBearOnly3DPdfvelUpdate ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DPdfvelUpdate::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
	Implement this virtual function for system model of a particle filter.
virtual	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdfvelUpdate::~NonlinearMeasurementRelRelBearOnly3DPdfvelUpdate ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdfvelUpdate::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	Implement this virtual function for measurement model of a particle filter.
	MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::~PaFilBFLRelRelBearOnly3DvelUpdate ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::step (MutLocFilInput3D &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::print ()
	Print function.
Decimal	MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::getLastOdomUpdateTime ()
	Take the last time when a propagation step was performed.
virtual	MipAlgorithms::NonlinearMobileRobRelRelNoMRPdf::~NonlinearMobileRobRelRelNoMRPdf ()
	Destructor.
virtual bool	MipAlgorithms::NonlinearMobileRobRelRelNoMRPdf::SampleFrom (Sample< MatrixWrapper::ColumnVector > &one_sample, int method=DEFAULT, void *args=NULL) const
virtual	MipAlgorithms::NonlinearMeasurementRelRelNoMRPdf::~NonlinearMeasurementRelRelNoMRPdf ()
	Destructor.
virtual Probability	MipAlgorithms::NonlinearMeasurementRelRelNoMRPdf::ProbabilityGet (const MatrixWrapper::ColumnVector &measurement) const
	MipAlgorithms::PaFilBFLRelRelNoMR::~PaFilBFLRelRelNoMR ()
	Destructor.
void	MipAlgorithms::PaFilBFLRelRelNoMR::step (MutLocFilInput &input)
	Generic step function.
void	MipAlgorithms::PaFilBFLRelRelNoMR::reset ()
	Reset the filter.
string	MipAlgorithms::PaFilBFLRelRelNoMR::print ()
	Print function.
	MipAlgorithms::RelParticle::RelParticle ()
	Default constructor.
	MipAlgorithms::RelParticle::RelParticle (Pose a, Decimal w)
	Complete constructor.
	MipAlgorithms::RelParticle::RelParticle (const RelParticle &A)
	Copy constructor.
void	MipAlgorithms::RelParticle::operator= (const RelParticle &A)
	Operator =.
string	MipAlgorithms::RelParticle::print ()
	Print particle data.
	MipAlgorithms::RelPaFilParams::RelPaFilParams ()
	Default constructor.
	MipAlgorithms::RelPaFilParams::RelPaFilParams (int N, Decimal sx, Decimal sy, Decimal sth, Decimal sev_x, Decimal sev_y, Decimal sev_th, int fac, int hId, RelParticleFilterType ty, int tmp)
	Complete constructor.
	MipAlgorithms::RelPaFilParams::RelPaFilParams (const RelPaFilParams &A)
	Copy constructor.
void	MipAlgorithms::RelPaFilParams::operator= (const RelPaFilParams &A)
	Operator =.
string	MipAlgorithms::RelPaFilParams::print ()
	Print RelPaFilParams.
	MipAlgorithms::RelPaFilVariables::RelPaFilVariables ()
	Default Costructor.
	MipAlgorithms::RelPaFilVariables::RelPaFilVariables (const RelPaFilVariables &A)
	Copy constructor.
RelPaFilVariables	MipAlgorithms::RelPaFilVariables::operator= (RelPaFilVariables &A)
	Operator =.
	MipAlgorithms::RelPaFilVariables::~RelPaFilVariables ()
	Complete destructor.
string	MipAlgorithms::RelPaFilVariables::print ()
	Print RelPaFilVariables.
	MipAlgorithms::RelParticleFilter::RelParticleFilter (RelPaFilParams in)
	Complete constructor.
void	MipAlgorithms::RelParticleFilter::step (MutLocFilInput &input)
	RelParticle Filter step.
void	MipAlgorithms::RelParticleFilter::reset ()
	Reset RelParticle Filter.
void	MipAlgorithms::RelParticleFilter::getInternalEstimate (MutLocFilInput &input, vector< RelParticle > &last_map)
	Launches the appropriate getInternalEstimate function.
void	MipAlgorithms::RelParticleFilter::getInternalEstimate_abs (MutLocFilInput &input, vector< RelParticle > &last_map)
	Compute the best available estimate of IxJ - ABS version.
void	MipAlgorithms::RelParticleFilter::getInternalEstimate_rel (MutLocFilInput &input, vector< RelParticle > &last_map)
	Compute the best available estimate of IxJ - REL version.
int	MipAlgorithms::RelParticleFilter::getEstimate (Pose *best)
	Provide the best available estimate.
int	MipAlgorithms::RelParticleFilter::getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks)
	Provide all the present estimates.
void	MipAlgorithms::RelParticleFilter::updateVar (MutLocFilInput &input, vector< RelParticle > &last_map, int &caso)
	Save filter status and prepare next iteration.
string	MipAlgorithms::RelParticleFilter::print ()
	Print.
void	MipAlgorithms::RelParticleFilter::reset (RelPaFilParams inPar)
	Reset filter status.
int	MipAlgorithms::RelParticleFilter::getStep ()
	Get the step (int) of the filter.
Pose	MipAlgorithms::RelParticleFilter::getIxi ()
	Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.
Pose	MipAlgorithms::RelParticleFilter::getJxj ()
	Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.
void	MipAlgorithms::RelParticleFilter::ComputeWeights (MutLocFilInput &input, int &caso)
	Launches the appropriate version of ComputeWeight function.
void	MipAlgorithms::RelParticleFilter::ComputeWeights_abs (MutLocFilInput &input, int &caso)
	Assign weight to each particle - version ABS.
void	MipAlgorithms::RelParticleFilter::ComputeWeights_rel (MutLocFilInput &input, int &caso)
	Assign weight to each particle - version REL.
vector< RelParticle >	MipAlgorithms::RelParticleFilter::Resample ()
	Select particles randomly according to their weight.
void	MipAlgorithms::RelParticleFilter::OutputPerformance (MutLocFilInput &input)
	Output results writing them on text files.
Variables
Pose	Particle::p
	Hypotesis of pose stored in the particle.
Decimal	CLPaFilParams::sigma_xx
	Variance of x component of additive random noise.
Decimal	CLPaFilParams::sigma_yy
	Variance of y component of additive random noise.
Decimal	CLPaFilParams::sigma_thetatheta
	Variance of theta component of additive random noise.
Decimal	CLPaFilParams::severity_xx
	Variance of x component of posterior distribution.
Decimal	CLPaFilParams::severity_yy
	Variance of y component of posterior distribution.
Decimal	CLPaFilParams::severity_thetatheta
	Variance of theta component of posterior distribution.
int	CLPaFilParams::factor
	Degree of precision of the limited approximation of the Gaussian distribution of noise (multiply sigma by 1, 2, 3 or 4).
int	CLPaFilParams::hisId
	Id of the robot whose position this filter must estimate.
ParticleFilterType	CLPaFilParams::type
	Specifies if the filter type is absolute or relative.
int	CLPaFilParams::tempo_in
	Istant time at which the filter has been created.
vector< Particle >	CLPaFilVariables::map
	Vector of particles.
Pose	CLPaFilVariables::Ixi_tmeno1
	Self-localization of the owner.
Pose	CLPaFilVariables::Jxj_tmeno1
	Self-localization of the other robot.
Pose	CLPaFilVariables::bestIxJ_mean
	Best estimate of IxJ computed as mean of all hypoteses.
Pose	CLPaFilVariables::bestIxJ_winner
	Best estimate of IxJ as the hypotesis with the highest weight.
int	CLPaFilVariables::bestParticle
	Index of particle having the highest weight.
Pose	CLPaFilVariables::myLastConf
	Last Self-localization of the owner.
Pose	CLPaFilVariables::hisLastConf
	Last Self-localization of the other robot.
CLPaFilParams	ParticleFilter::par
	Parameters.
CLPaFilVariables *	ParticleFilter::var
	Variables.
Pose	MipAlgorithms::Particle::p
	Hypotesis of pose stored in the particle.
Decimal	MipAlgorithms::ParFilParams::sigma_xx
	Variance of x component of additive random noise.
Decimal	MipAlgorithms::ParFilParams::sigma_yy
	Variance of y component of additive random noise.
Decimal	MipAlgorithms::ParFilParams::sigma_thetatheta
	Variance of theta component of additive random noise.
Decimal	MipAlgorithms::ParFilParams::severity_xx
	Variance of x component of posterior distribution.
Decimal	MipAlgorithms::ParFilParams::severity_yy
	Variance of y component of posterior distribution.
Decimal	MipAlgorithms::ParFilParams::severity_thetatheta
	Variance of theta component of posterior distribution.
int	MipAlgorithms::ParFilParams::factor
	Degree of precision of the limited approximation of the Gaussian distribution of noise (multiply sigma by 1, 2, 3 or 4).
int	MipAlgorithms::ParFilParams::hisId
	Id of the robot whose position this filter must estimate.
ParticleFilterType	MipAlgorithms::ParFilParams::type
	Specifies if the filter type is absolute or relative.
int	MipAlgorithms::ParFilParams::tempo_in
	Istant time at which the filter has been created.
vector< Particle >	MipAlgorithms::ParFilVariables::map
	Vector of particles.
Pose	MipAlgorithms::ParFilVariables::Ixi_tmeno1
	Self-localization of the owner.
Pose	MipAlgorithms::ParFilVariables::Jxj_tmeno1
	Self-localization of the other robot.
Pose	MipAlgorithms::ParFilVariables::bestIxJ_mean
	Best estimate of IxJ computed as mean of all hypoteses.
Pose	MipAlgorithms::ParFilVariables::bestIxJ_winner
	Best estimate of IxJ as the hypotesis with the highest weight.
int	MipAlgorithms::ParFilVariables::bestParticle
	Index of particle having the highest weight.
Pose	MipAlgorithms::ParFilVariables::myLastConf
	Last Self-localization of the owner.
Pose	MipAlgorithms::ParFilVariables::hisLastConf
	Last Self-localization of the other robot.
ParFilParams	MipAlgorithms::ParticleFilter::par
	Parameters.
ParFilVariables *	MipAlgorithms::ParticleFilter::var
	Variables.
Decimal	MipAlgorithms::PaFilBFLPar::randomPercentage
BootstrapFilter< ColumnVector, ColumnVector > *	MipAlgorithms::PaFilBFL::_filter
PaFilBFLPar	MipAlgorithms::PaFilBFL::_par
bool	MipAlgorithms::PaFilBFL::_ignoreMeasures
bool	MipAlgorithms::PaFilBFL::_nextStepResamplingOnMeasures
bool	MipAlgorithms::PaFilBFL::_lastStepSystemUpdate
BootstrapFilter< ColumnVector, ColumnVector > *	MipAlgorithms::PaFilBFL3D::_filter
PaFilBFLPar	MipAlgorithms::PaFilBFL3D::_par
bool	MipAlgorithms::PaFilBFL3D::_ignoreMeasures
bool	MipAlgorithms::PaFilBFL3D::_nextStepResamplingOnMeasures
bool	MipAlgorithms::PaFilBFL3D::_lastStepSystemUpdate
Pose	MipAlgorithms::RelParticle::p
	Hypotesis of pose stored in the particle.
Decimal	MipAlgorithms::RelPaFilParams::sigma_xx
	Variance of x component of additive random noise.
Decimal	MipAlgorithms::RelPaFilParams::sigma_yy
	Variance of y component of additive random noise.
Decimal	MipAlgorithms::RelPaFilParams::sigma_thetatheta
	Variance of theta component of additive random noise.
Decimal	MipAlgorithms::RelPaFilParams::severity_xx
	Variance of x component of posterior distribution.
Decimal	MipAlgorithms::RelPaFilParams::severity_yy
	Variance of y component of posterior distribution.
Decimal	MipAlgorithms::RelPaFilParams::severity_thetatheta
	Variance of theta component of posterior distribution.
int	MipAlgorithms::RelPaFilParams::factor
	Degree of precision of the limited approximation of the Gaussian distribution of noise (multiply sigma by 1, 2, 3 or 4).
int	MipAlgorithms::RelPaFilParams::hisId
	Id of the robot whose position this filter must estimate.
RelParticleFilterType	MipAlgorithms::RelPaFilParams::type
	Specifies if the filter type is absolute or relative.
int	MipAlgorithms::RelPaFilParams::tempo_in
	Istant time at which the filter has been created.
vector< RelParticle >	MipAlgorithms::RelPaFilVariables::map
	Vector of particles.
Pose	MipAlgorithms::RelPaFilVariables::Ixi_tmeno1
	Self-localization of the owner.
Pose	MipAlgorithms::RelPaFilVariables::Jxj_tmeno1
	Self-localization of the other robot.
Pose	MipAlgorithms::RelPaFilVariables::bestIxJ_mean
	Best estimate of IxJ computed as mean of all hypoteses.
Pose	MipAlgorithms::RelPaFilVariables::bestIxJ_winner
	Best estimate of IxJ as the hypotesis with the highest weight.
int	MipAlgorithms::RelPaFilVariables::bestRelParticle
	Index of particle having the highest weight.
Pose	MipAlgorithms::RelPaFilVariables::myLastConf
	Last Self-localization of the owner.
Pose	MipAlgorithms::RelPaFilVariables::hisLastConf
	Last Self-localization of the other robot.
RelPaFilParams	MipAlgorithms::RelParticleFilter::par
	Parameters.
RelPaFilVariables *	MipAlgorithms::RelParticleFilter::var
	Variables.

Detailed Description

Filter for the mutual localization.

Define Documentation

#define A_COL 3

#define A_COL_IMU 5

#define A_ROW 3

#define A_ROW_IMU 5

#define ACC_MEAS_IMU 3

#define C_COL 3

#define C_COL_IMU 5

#define C_ROW 2

#define C_ROW_IMU 5

#define CLMEMORY 100

#define EKFILTERUNICYCLE2D_NUMPARTICLES 1000

#define ENC_MEAS 3

#define ENC_MEAS_IMU 5

#define EPSILON 0.01

#define F_COL 3

#define F_COL_IMU 5

#define F_ROW 3

#define F_ROW_IMU 5

#define G_COL 2

#define G_COL_IMU 5

#define G_ROW 2

#define G_ROW_IMU 5

#define GPS_MEAS 2

#define GPS_MEAS_IMU 2

#define GRAV 9.81

#define GYRO_MEAS_IMU 3

#define INITVALUE 0.8

#define K_COL 2

#define K_COL_IMU 5

#define K_ROW 3

#define K_ROW_IMU 5

#define KILLPERCENT 0.85

#define MAGN_MEAS_IMU 3

#define MAXCLSTNUMBER 500

#define OUT_MEAS_ROWS_IMU 5

#define OUT_PRED_ROWS 2

#define OUT_PRED_ROWS_IMU 5

#define P_COL 3

#define P_COL_IMU 5

#define P_ROW 3

#define P_ROW_IMU 5

#define Pp_COL 3

#define Pp_COL_IMU 5

#define Pp_ROW 3

#define Pp_ROW_IMU 5

Enumeration Type Documentation

enum MipAlgorithms::ParticleFilterType

Determines whether the filter map is stored as relative (set of ixj) or absolute (set of Ixj).

Enumerator:

ABS
REL

Function Documentation

CLPaFilParams::CLPaFilParams ( const CLPaFilParams & A ) [inline, inherited]

Copy constructor.

CLPaFilParams::CLPaFilParams	(	int	N,
		Decimal	sx,
		Decimal	sy,
		Decimal	sth,
		Decimal	sev_x,
		Decimal	sev_y,
		Decimal	sev_th,
		int	fac,
		int	hId,
		ParticleFilterType	ty,
		int	tmp
	)			`[inline, inherited]`

Complete constructor.

CLPaFilParams::CLPaFilParams ( ) [inline, inherited]

Default constructor.

CLPaFilVariables::CLPaFilVariables ( const CLPaFilVariables & A ) [inline, inherited]

Copy constructor.

CLPaFilVariables::CLPaFilVariables ( ) [inline, inherited]

Default Costructor.

void MipAlgorithms::RelParticleFilter::ComputeWeights	(	MutLocFilInput &	input,
		int &	caso
	)			`[inherited]`

Launches the appropriate version of ComputeWeight function.

void ParticleFilter::ComputeWeights	(	MutLocFilInput &	input,
		int &	caso
	)			`[inherited]`

Launches the appropriate version of ComputeWeight function.

void ParticleFilter::ComputeWeights	(	LocFilInput &	input,
		int &	caso
	)			`[inherited]`

Launches the appropriate version of ComputeWeight function.

void MipAlgorithms::RelParticleFilter::ComputeWeights_abs	(	MutLocFilInput &	input,
		int &	caso
	)			`[inherited]`

Assign weight to each particle - version ABS.

void ParticleFilter::ComputeWeights_abs	(	MutLocFilInput &	input,
		int &	caso
	)			`[inherited]`

Assign weight to each particle - version ABS.

void ParticleFilter::ComputeWeights_abs	(	LocFilInput &	input,
		int &	caso
	)			`[inherited]`

Assign weight to each particle - version ABS.

void MipAlgorithms::RelParticleFilter::ComputeWeights_rel	(	MutLocFilInput &	input,
		int &	caso
	)			`[inherited]`

Assign weight to each particle - version REL.

void ParticleFilter::ComputeWeights_rel	(	MutLocFilInput &	input,
		int &	caso
	)			`[inherited]`

Assign weight to each particle - version REL.

void ParticleFilter::ComputeWeights_rel	(	LocFilInput &	input,
		int &	caso
	)			`[inherited]`

Assign weight to each particle - version REL.

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

Provide all the present estimates.

Returns:: Number of filter particles.

Implements MipAlgorithms::MutLocFilter.

int MipAlgorithms::PaFilBFL3D::getAllEstimates	(	vector< Pose3D > &	estimates,
		vector< Decimal > &	weights,
		vector< Velocity3D > &	velEstimates
	)			`[virtual, inherited]`

Get all current particles.

Implements MipAlgorithms::MutLocFilter3D.

int MipAlgorithms::PaFilBFL::getAllEstimates	(	vector< Pose > &	estimates,
		vector< Decimal > &	weights
	)			`[virtual, inherited]`

Get all current particles.

Implements MipAlgorithms::MutLocFilter.

int ParticleFilter::getAllEstimates	(	vector< Pose > &	all,
		vector< Decimal > &	allMarks
	)			`[virtual, inherited]`

Provide all the present estimates.

Returns:: Number of filter particles.

Implements MipAlgorithms::MutLocFilter.

int ParticleFilter::getAllEstimates	(	vector< Pose > &	all,
		vector< Decimal > &	allMarks
	)			`[inherited]`

Provide all the present estimates.

Returns:: Number of filter particles.

Decimal KalmanFilterImu::getAppliedForce ( ) [inline, inherited]

Decimal KalmanFilter::getAppliedForce ( ) [inline, inherited]

Decimal KalmanFilterImu::getAppliedTorque ( ) [inline, inherited]

Decimal KalmanFilter::getAppliedTorque ( ) [inline, inherited]

int MipAlgorithms::PaFilBFL3D::getCovariance ( MIPMatrix * cov ) [virtual, inherited]

Get the current covariance.

Reimplemented from MipAlgorithms::MutLocFilter3D.

int MipAlgorithms::PaFilBFL::getCovariance ( MIPMatrix * cov ) [virtual, inherited]

Get the current covariance.

Reimplemented from MipAlgorithms::MutLocFilter.

int KalmanFilterImu::getCurrentRobotPlane ( ) [inline, inherited]

int KalmanFilter::getCurrentRobotPlane ( ) [inline, inherited]

Decimal KalmanFilterImu::getCycleTime ( ) [inline, inherited]

Decimal KalmanFilter::getCycleTime ( ) [inline, inherited]

int MipAlgorithms::RelParticleFilter::getEstimate ( Pose * best ) [virtual, inherited]

Provide the best available estimate.

Returns:: The number of the particle that provided the best estimate.

Implements MipAlgorithms::MutLocFilter.

int MipAlgorithms::PaFilBFL3D::getEstimate	(	Pose3D *	best,
		Velocity3D *	bestVel = `0`
	)			`[virtual, inherited]`

Get the current estimate.

Implements MipAlgorithms::MutLocFilter3D.

int MipAlgorithms::PaFilBFL::getEstimate ( Pose * best ) [virtual, inherited]

Get the current estimate.

Implements MipAlgorithms::MutLocFilter.

int ParticleFilter::getEstimate ( Pose * best ) [virtual, inherited]

Provide the best available estimate.

Returns:: The number of the particle that provided the best estimate.

Implements MipAlgorithms::MutLocFilter.

int ParticleFilter::getEstimate ( Pose * best ) [inherited]

Provide the best available estimate.

Returns:: The number of the particle that provided the best estimate.

int KalmanFilterImu::getGPSAvailability ( ) [inline, inherited]

int KalmanFilter::getGPSAvailability ( ) [inline, inherited]

void MipAlgorithms::RelParticleFilter::getInternalEstimate	(	MutLocFilInput &	input,
		vector< RelParticle > &	last_map
	)			`[inherited]`

Launches the appropriate getInternalEstimate function.

void ParticleFilter::getInternalEstimate	(	MutLocFilInput &	input,
		vector< Particle > &	last_map
	)			`[inherited]`

Launches the appropriate getInternalEstimate function.

void ParticleFilter::getInternalEstimate	(	LocFilInput &	input,
		vector< Particle > &	last_map
	)			`[inherited]`

Launches the appropriate getInternalEstimate function.

void MipAlgorithms::RelParticleFilter::getInternalEstimate_abs	(	MutLocFilInput &	input,
		vector< RelParticle > &	last_map
	)			`[inherited]`

Compute the best available estimate of IxJ - ABS version.

void ParticleFilter::getInternalEstimate_abs	(	MutLocFilInput &	input,
		vector< Particle > &	last_map
	)			`[inherited]`

Compute the best available estimate of IxJ - ABS version.

void ParticleFilter::getInternalEstimate_abs	(	LocFilInput &	input,
		vector< Particle > &	last_map
	)			`[inherited]`

Compute the best available estimate of IxJ - ABS version.

void MipAlgorithms::RelParticleFilter::getInternalEstimate_rel	(	MutLocFilInput &	input,
		vector< RelParticle > &	last_map
	)			`[inherited]`

Compute the best available estimate of IxJ - REL version.

void ParticleFilter::getInternalEstimate_rel	(	MutLocFilInput &	input,
		vector< Particle > &	last_map
	)			`[inherited]`

Compute the best available estimate of IxJ - REL version.

void ParticleFilter::getInternalEstimate_rel	(	LocFilInput &	input,
		vector< Particle > &	last_map
	)			`[inherited]`

Compute the best available estimate of IxJ - REL version.

Pose MipAlgorithms::RelParticleFilter::getIxi ( ) [inline, inherited]

Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.

Pose MipAlgorithms::ParticleFilter::getIxi ( ) [inline, inherited]

Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.

Pose ParticleFilter::getIxi ( ) [inline, inherited]

Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.

Pose MipAlgorithms::RelParticleFilter::getJxj ( ) [inline, inherited]

Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.

Pose MipAlgorithms::ParticleFilter::getJxj ( ) [inline, inherited]

Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.

Pose ParticleFilter::getJxj ( ) [inline, inherited]

Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.

Decimal MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::getLastOdomUpdateTime ( ) [inline, virtual, inherited]

Take the last time when a propagation step was performed.

Reimplemented from MipAlgorithms::PaFilBFL3D.

Decimal MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::getLastOdomUpdateTime ( ) [inline, virtual, inherited]

Take the last time when a propagation step was performed.

Reimplemented from MipAlgorithms::PaFilBFL3D.

Decimal MipAlgorithms::PaFilBFLRelRelBearOnly3D::getLastOdomUpdateTime ( ) [inline, virtual, inherited]

Take the last time when a propagation step was performed.

Reimplemented from MipAlgorithms::PaFilBFL3D.

Decimal MipAlgorithms::PaFilBFLRelRel3D::getLastOdomUpdateTime ( ) [inline, virtual, inherited]

Take the last time when a propagation step was performed.

Reimplemented from MipAlgorithms::PaFilBFL3D.

Decimal MipAlgorithms::PaFilBFL3D::getLastOdomUpdateTime ( ) [virtual, inherited]

Take the last time when a propagation step was performed.

Reimplemented in MipAlgorithms::PaFilBFLRelRel3D, MipAlgorithms::PaFilBFLRelRelBearOnly3D, MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel, and MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate.

MIPMatrix* KalmanFilterImu::getRobStatus ( ) [inline, inherited]

MIPMatrix* KalmanFilter::getRobStatus ( ) [inline, inherited]

int MipAlgorithms::RelParticleFilter::getStep ( ) [inline, inherited]

Get the step (int) of the filter.

int MipAlgorithms::ParticleFilter::getStep ( ) [inline, inherited]

Get the step (int) of the filter.

int ParticleFilter::getStep ( ) [inline, inherited]

Get the step (int) of the filter.

KalmanFilter::KalmanFilter ( string namefile ) [inline, inherited]

Default constructor.

KalmanFilterImu::KalmanFilterImu ( string namefile ) [inline, inherited]

Default constructor.

RelPaFilVariables MipAlgorithms::RelPaFilVariables::operator= ( RelPaFilVariables & A ) [inline, inherited]

Operator =.

void MipAlgorithms::RelPaFilParams::operator= ( const RelPaFilParams & A ) [inline, inherited]

Operator =.

void MipAlgorithms::RelParticle::operator= ( const RelParticle & A ) [inline, inherited]

Operator =.

PaFilBFLPar& MipAlgorithms::PaFilBFLPar::operator= ( const PaFilBFLPar & pf ) [inline, inherited]

ParFilVariables MipAlgorithms::ParFilVariables::operator= ( ParFilVariables & A ) [inline, inherited]

Operator =.

void MipAlgorithms::ParFilParams::operator= ( const ParFilParams & A ) [inline, inherited]

Operator =.

void MipAlgorithms::Particle::operator= ( const Particle & A ) [inline, inherited]

Operator =.

CLPaFilVariables CLPaFilVariables::operator= ( CLPaFilVariables & A ) [inline, inherited]

Operator =.

void CLPaFilParams::operator= ( const CLPaFilParams & A ) [inline, inherited]

Operator =.

void Particle::operator= ( const Particle & A ) [inline, inherited]

Operator =.

void MipAlgorithms::RelParticleFilter::OutputPerformance ( MutLocFilInput & input ) [inherited]

Output results writing them on text files.

void ParticleFilter::OutputPerformance ( MutLocFilInput & input ) [inherited]

Output results writing them on text files.

void ParticleFilter::OutputPerformance ( LocFilInput & input ) [inherited]

Output results writing them on text files.

MipAlgorithms::PaFilBFL::PaFilBFL ( PaFilBFLPar par ) [inherited]

Parametrical constructor.

MipAlgorithms::PaFilBFL3D::PaFilBFL3D ( PaFilBFLPar par ) [inherited]

Parametrical constructor.

MipAlgorithms::PaFilBFLPar::PaFilBFLPar ( const PaFilBFLPar & pf ) [inline, inherited]

MipAlgorithms::PaFilBFLPar::PaFilBFLPar	(	int	parNum = `100`,
		Decimal	ranPercent = `0.0`
	)			`[inherited]`

MipAlgorithms::ParFilParams::ParFilParams ( const ParFilParams & A ) [inline, inherited]

Copy constructor.

MipAlgorithms::ParFilParams::ParFilParams	(	int	N,
		Decimal	sx,
		Decimal	sy,
		Decimal	sth,
		Decimal	sev_x,
		Decimal	sev_y,
		Decimal	sev_th,
		int	fac,
		int	hId,
		ParticleFilterType	ty,
		int	tmp
	)			`[inline, inherited]`

Complete constructor.

MipAlgorithms::ParFilParams::ParFilParams ( ) [inline, inherited]

Default constructor.

MipAlgorithms::ParFilVariables::ParFilVariables ( const ParFilVariables & A ) [inline, inherited]

Copy constructor.

MipAlgorithms::ParFilVariables::ParFilVariables ( ) [inline, inherited]

Default Costructor.

MipAlgorithms::Particle::Particle ( const Particle & A ) [inline, inherited]

Copy constructor.

MipAlgorithms::Particle::Particle	(	Pose	a,
		Decimal	w
	)			`[inline, inherited]`

Complete constructor.

MipAlgorithms::Particle::Particle ( ) [inline, inherited]

Default constructor.

Particle::Particle ( const Particle & A ) [inline, inherited]

Copy constructor.

Particle::Particle	(	Pose	a,
		Decimal	w
	)			`[inline, inherited]`

Complete constructor.

Particle::Particle ( ) [inline, inherited]

Default constructor.

MipAlgorithms::ParticleFilter::ParticleFilter ( ParFilParams in ) [inline, inherited]

Complete constructor.

ParticleFilter::ParticleFilter ( CLPaFilParams in ) [inline, inherited]

Complete constructor.

void KalmanFilterImu::PositionErrorEstimate ( Position3D & pos ) [inline, inherited]

void KalmanFilter::PositionErrorEstimate ( Position3D & pos ) [inline, inherited]

string MipAlgorithms::RelParticleFilter::print ( ) [virtual, inherited]

Print.

Implements MipAlgorithms::MutLocFilter.

string MipAlgorithms::RelPaFilVariables::print ( ) [inline, inherited]

Print RelPaFilVariables.

string MipAlgorithms::RelPaFilParams::print ( ) [inline, inherited]

Print RelPaFilParams.

string MipAlgorithms::RelParticle::print ( ) [inline, inherited]

Print particle data.

string MipAlgorithms::PaFilBFLRelRelNoMR::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL.

string MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL3D.

string MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL3D.

string MipAlgorithms::PaFilBFLRelRelBearOnly3D::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL3D.

string MipAlgorithms::PaFilBFLRelRelBearOnly::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL.

string MipAlgorithms::PaFilBFLRelRel3D::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL3D.

string MipAlgorithms::PaFilBFLRelRel::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL.

string MipAlgorithms::PaFilBFLAbsRel::print ( ) [virtual, inherited]

Print function.

Reimplemented from MipAlgorithms::PaFilBFL.

string MipAlgorithms::PaFilBFL3D::print ( ) [virtual, inherited]

Print function.

Implements MipAlgorithms::MutLocFilter3D.

Reimplemented in MipAlgorithms::PaFilBFLRelRel3D, MipAlgorithms::PaFilBFLRelRelBearOnly3D, MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel, and MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate.

string MipAlgorithms::PaFilBFL::print ( ) [virtual, inherited]

Print function.

Implements MipAlgorithms::MutLocFilter.

Reimplemented in MipAlgorithms::PaFilBFLAbsRel, MipAlgorithms::PaFilBFLRelRel, MipAlgorithms::PaFilBFLRelRelBearOnly, and MipAlgorithms::PaFilBFLRelRelNoMR.

string ParticleFilter::print ( ) [virtual, inherited]

Print.

Implements MipAlgorithms::MutLocFilter.

string MipAlgorithms::ParFilVariables::print ( ) [inline, inherited]

Print ParFilVariables.

string MipAlgorithms::ParFilParams::print ( ) [inline, inherited]

Print ParFilParams.

string MipAlgorithms::Particle::print ( ) [inline, inherited]

Print particle data.

string ParticleFilter::print ( ) [inherited]

Print.

string CLPaFilVariables::print ( ) [inline, inherited]

Print CLPaFilVariables.

string CLPaFilParams::print ( ) [inline, inherited]

Print CLPaFilParams.

string Particle::print ( ) [inline, inherited]

Print particle data.

virtual Probability MipAlgorithms::NonlinearMeasurementRelRelNoMRPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

virtual Probability MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdfvelUpdate::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

Implement this virtual function for measurement model of a particle filter.

virtual Probability MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DvelPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

Implement this virtual function for measurement model of a particle filter.

virtual Probability MipAlgorithms::NonlinearMeasurementRelRelBearOnly3DPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

Implement this virtual function for measurement model of a particle filter.

virtual Probability MipAlgorithms::NonlinearMeasurementRelRelBearOnlyPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

virtual Probability MipAlgorithms::NonlinearMeasurementRelRel3DPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

Implement this virtual function for measurement model of a particle filter.

virtual Probability MipAlgorithms::NonlinearMeasurementRelRelPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

virtual Probability MipAlgorithms::NonlinearMeasurementAbsRelPdf::ProbabilityGet ( const MatrixWrapper::ColumnVector & measurement ) const [virtual, inherited]

void KalmanFilterImu::ProcessENCMeasures ( MIPMatrix * RobStat ) [inline, inherited]

void KalmanFilter::processENCMeasures	(	Decimal	d_x,
		Decimal	d_y,
		Angle	d_theta
	)			`[inline, inherited]`

bool KalmanFilterImu::processGPSMeasures ( Position3D & pos ) [inline, inherited]

void KalmanFilterImu::ProcessIMUMeasures	(	Acceleration3D &	acc,
		Acceleration3D &	gyro,
		Orientation3D &	magn
	)			`[inline, inherited]`

MipAlgorithms::RelPaFilParams::RelPaFilParams ( const RelPaFilParams & A ) [inline, inherited]

Copy constructor.

MipAlgorithms::RelPaFilParams::RelPaFilParams	(	int	N,
		Decimal	sx,
		Decimal	sy,
		Decimal	sth,
		Decimal	sev_x,
		Decimal	sev_y,
		Decimal	sev_th,
		int	fac,
		int	hId,
		RelParticleFilterType	ty,
		int	tmp
	)			`[inline, inherited]`

Complete constructor.

MipAlgorithms::RelPaFilParams::RelPaFilParams ( ) [inline, inherited]

Default constructor.

MipAlgorithms::RelPaFilVariables::RelPaFilVariables ( const RelPaFilVariables & A ) [inline, inherited]

Copy constructor.

MipAlgorithms::RelPaFilVariables::RelPaFilVariables ( ) [inline, inherited]

Default Costructor.

MipAlgorithms::RelParticle::RelParticle ( const RelParticle & A ) [inline, inherited]

Copy constructor.

MipAlgorithms::RelParticle::RelParticle	(	Pose	a,
		Decimal	w
	)			`[inline, inherited]`

Complete constructor.

MipAlgorithms::RelParticle::RelParticle ( ) [inline, inherited]

Default constructor.

MipAlgorithms::RelParticleFilter::RelParticleFilter ( RelPaFilParams in ) [inline, inherited]

Complete constructor.

vector<RelParticle> MipAlgorithms::RelParticleFilter::Resample ( ) [inherited]

Select particles randomly according to their weight.

Returns:: Vector, the new particle map after resampling.

vector< Particle > ParticleFilter::Resample ( ) [inherited]

Select particles randomly according to their weight.

Returns:: Vector, the new particle map after resampling.

vector< Particle > ParticleFilter::Resample ( ) [inherited]

Select particles randomly according to their weight.

Returns:: Vector, the new particle map after resampling.

void MipAlgorithms::RelParticleFilter::reset ( RelPaFilParams inPar ) [inline, inherited]

Reset filter status.

void MipAlgorithms::RelParticleFilter::reset ( ) [inline, virtual, inherited]

Reset RelParticle Filter.

Implements MipAlgorithms::MutLocFilter.

void MipAlgorithms::PaFilBFLRelRelNoMR::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL.

void MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL3D.

void MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL3D.

void MipAlgorithms::PaFilBFLRelRelBearOnly3D::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL3D.

void MipAlgorithms::PaFilBFLRelRelBearOnly::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL.

void MipAlgorithms::PaFilBFLRelRel3D::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL3D.

void MipAlgorithms::PaFilBFLRelRel::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL.

void MipAlgorithms::PaFilBFLAbsRel::reset ( ) [virtual, inherited]

Reset the filter.

Implements MipAlgorithms::PaFilBFL.

virtual void MipAlgorithms::PaFilBFL3D::reset ( ) [pure virtual, inherited]

Reset the filter.

Implements MipAlgorithms::MutLocFilter3D.

Implemented in MipAlgorithms::PaFilBFLRelRel3D, MipAlgorithms::PaFilBFLRelRelBearOnly3D, MipAlgorithms::PaFilBFLRelRelBearOnly3Dvel, and MipAlgorithms::PaFilBFLRelRelBearOnly3DvelUpdate.

virtual void MipAlgorithms::PaFilBFL::reset ( ) [pure virtual, inherited]

Reset the filter.

Implements MipAlgorithms::MutLocFilter.

Implemented in MipAlgorithms::PaFilBFLAbsRel, MipAlgorithms::PaFilBFLRelRel, MipAlgorithms::PaFilBFLRelRelBearOnly, and MipAlgorithms::PaFilBFLRelRelNoMR.

void MipAlgorithms::ParticleFilter::reset ( ParFilParams inPar ) [inline, inherited]

Reset filter status.

void MipAlgorithms::ParticleFilter::reset ( ) [inline, virtual, inherited]

Reset Particle Filter.

Implements MipAlgorithms::MutLocFilter.

void ParticleFilter::reset ( CLPaFilParams inPar ) [inline, inherited]

Reset filter status.

void ParticleFilter::reset ( ) [inline, inherited]

Reset Particle Filter.

virtual bool MipAlgorithms::NonlinearMobileRobRelRelNoMRPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

virtual bool MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DPdfvelUpdate::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

Implement this virtual function for system model of a particle filter.

virtual bool MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DvelPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

Implement this virtual function for system model of a particle filter.

virtual bool MipAlgorithms::NonlinearMobileRobRelRelBearOnly3DPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

Implement this virtual function for system model of a particle filter.

virtual bool MipAlgorithms::NonlinearMobileRobRelRelBearOnlyPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

virtual bool MipAlgorithms::NonlinearMobileRobRelRel3DPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

Implement this virtual function for system model of a particle filter.

virtual bool MipAlgorithms::NonlinearMobileRobRelRelPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

virtual bool MipAlgorithms::NonlinearMobileRobAbsRelPdf::SampleFrom	(	Sample< MatrixWrapper::ColumnVector > &	one_sample,
		int	method = `DEFAULT`,
		void *	args = `NULL`
	)			const `[virtual, inherited]`

void KalmanFilterImu::setAppliedForce ( Decimal F ) [inline, inherited]

void KalmanFilter::setAppliedForce ( Decimal F ) [inline, inherited]

void KalmanFilterImu::setAppliedTorque ( Decimal To ) [inline, inherited]

void KalmanFilter::setAppliedTorque ( Decimal To ) [inline, inherited]

void KalmanFilterImu::setCurrentRobotPlane ( int Plane ) [inline, inherited]

void KalmanFilter::setCurrentRobotPlane ( int Plane ) [inline, inherited]

void KalmanFilterImu::setCycleTime ( Decimal T ) [inline, inherited]

void KalmanFilter::setCycleTime ( Decimal T ) [inline, inherited]

void KalmanFilterImu::setGPSAvailability ( ) [inline, inherited]

Set availability of GPS measures.

void KalmanFilter::setGPSAvailability ( ) [inline, inherited]

Set availability of GPS measures.

void MipAlgorithms::RelParticleFilter::step ( MutLocFilInput & input ) [virtual, inherited]

RelParticle Filter step.

Implements MipAlgorithms::MutLocFilter.

void MipAlgorithms::PaFilBFLRelRelNoMR::step ( MutLocFilInput & input ) [virtual, inherited]

Generic step function.

Parameters: