MipAlgorithms::MutLocFilInput Class Reference

Class represents MutLocFilter inputs new inputs that must be passed to filter at each iteration. More...

#include <MutLoc.h>

List of all members.

Public Member Functions
	MutLocFilInput ()
	Default constructor.
	~MutLocFilInput ()
	Destructor.
string	print ()
	Print function.
Public Attributes
int	numMeas
	Number of measures.
vector< Pose >	measure
	Measures.
vector< MIPMatrix >	measCov
	Covariance matrix of the measures.
Pose	myConf
	Pose of the owner.
MIPMatrix *	myCov
	Covariance matrix of the pose of the owner.
Pose	hisConf
	Pose of the other.
MIPMatrix *	hisCov
	Covariance matrix of the pose of the other.
Decimal	rightProb
	Probability of having the real value in the set of measures.
bool	updateValue
	Says if update or not the value of a cluster using this input.
pair< bool, Decimal >	actualTime
	Actual time of simulation.
vector< Decimal >	priorWeights
	Prior probabilities normalized.

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Detailed Description

Class represents MutLocFilter inputs new inputs that must be passed to filter at each iteration.

Author:

Antonio Franchi and Paolo Stegagno

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Constructor & Destructor Documentation

MipAlgorithms::MutLocFilInput::MutLocFilInput

(

)

Default constructor.

MipAlgorithms::MutLocFilInput::~MutLocFilInput

(

)

Destructor.

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Member Function Documentation

string MipAlgorithms::MutLocFilInput::print

(

)

Print function.

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Member Data Documentation

int MipAlgorithms::MutLocFilInput::numMeas

Number of measures.

vector<Pose> MipAlgorithms::MutLocFilInput::measure

Measures.

vector<MIPMatrix> MipAlgorithms::MutLocFilInput::measCov

Covariance matrix of the measures.

Pose MipAlgorithms::MutLocFilInput::myConf

Pose of the owner.

MIPMatrix* MipAlgorithms::MutLocFilInput::myCov

Covariance matrix of the pose of the owner.

Pose MipAlgorithms::MutLocFilInput::hisConf

Pose of the other.

MIPMatrix* MipAlgorithms::MutLocFilInput::hisCov

Covariance matrix of the pose of the other.

Decimal MipAlgorithms::MutLocFilInput::rightProb

Probability of having the real value in the set of measures.

bool MipAlgorithms::MutLocFilInput::updateValue

Says if update or not the value of a cluster using this input.

If true allow the filter to increment by one the value of clusters that gain a new measure by mean association in current step.
If false says to the filter to not increment values, for example if all robots of a formation are still.

pair<bool,Decimal> MipAlgorithms::MutLocFilInput::actualTime

Actual time of simulation.

vector<Decimal> MipAlgorithms::MutLocFilInput::priorWeights

Prior probabilities normalized.

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

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