MipAlgorithms::ParticleFilter Class Reference
[Mutual localization]

Particle Filter implementation of the MutLocFilter class. More...

#include <PaFil.h>

Inheritance diagram for MipAlgorithms::ParticleFilter:

List of all members.

Public Member Functions
	ParticleFilter ()
	Default constructor.
	ParticleFilter (ParFilParams in)
	Complete constructor.
void	step (MutLocFilInput &input)
	Particle Filter step.
void	reset ()
	Reset Particle Filter.
void	getInternalEstimate (MutLocFilInput &input, vector< Particle > &last_map)
	Launches the appropriate getInternalEstimate function.
void	getInternalEstimate_abs (MutLocFilInput &input, vector< Particle > &last_map)
	Compute the best available estimate of IxJ - ABS version.
void	getInternalEstimate_rel (MutLocFilInput &input, vector< Particle > &last_map)
	Compute the best available estimate of IxJ - REL version.
int	getEstimate (Pose *best)
	Provide the best available estimate.
int	getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks)
	Provide all the present estimates.
void	updateVar (MutLocFilInput &input, vector< Particle > &last_map, int &caso)
	Save filter status and prepare next iteration.
string	print ()
	Print.
void	reset (ParFilParams inPar)
	Reset filter status.
int	getStep ()
	Get the step (int) of the filter.
Pose	getIxi ()
	Prendo i valori delle stime di i rispetto alla terna I all'interno del filtro.
Pose	getJxj ()
	Prendo i valori delle stime di j rispetto alla terna I all'interno del filtro.
void	ComputeWeights (MutLocFilInput &input, int &caso)
	Launches the appropriate version of ComputeWeight function.
void	ComputeWeights_abs (MutLocFilInput &input, int &caso)
	Assign weight to each particle - version ABS.
void	ComputeWeights_rel (MutLocFilInput &input, int &caso)
	Assign weight to each particle - version REL.
vector< Particle >	Resample ()
	Select particles randomly according to their weight.
void	OutputPerformance (MutLocFilInput &input)
	Output results writing them on text files.
Protected Attributes
ParFilParams	par
	Parameters.
ParFilVariables *	var
	Variables.

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Detailed Description

Particle Filter implementation of the MutLocFilter class.

Author:

Francesco Settembre & Stefano Maria Pelliccioni

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Constructor & Destructor Documentation

MipAlgorithms::ParticleFilter::ParticleFilter

(

)

[inline]

Default constructor.

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

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