#include <MutLoc.h>
Public Member Functions | |
virtual void | step (MutLocFilInput &input)=0 |
Generic step function. | |
virtual void | reset ()=0 |
Reset function: reset the filter. | |
virtual int | getEstimate (Pose *best)=0 |
Get the estimate with the highest value. | |
virtual int | getCovariance (MIPMatrix *cov) |
Get the covariance of the estimate. | |
virtual int | getAllEstimates (vector< Pose > &all, vector< Decimal > &allMarks)=0 |
Get the cluster with the highest value. | |
virtual string | print ()=0 |
Print function. | |
MutLocFilter () | |
Default constructor. | |
~MutLocFilter () | |
Destructor. | |
void | init () |
Set true initialized bool. | |
void | uninit () |
Set false initialize bool. | |
bool | initialized () |
Return if initialized. | |
bool | firstPosteriorComputed () |
Says if the first Posterior density function has been computed. | |
void | setFirstPosteriorComputed () |
Sets that the first Posterior density function has been computed. |
MipAlgorithms::MutLocFilter::MutLocFilter | ( | ) |
Default constructor.
MipAlgorithms::MutLocFilter::~MutLocFilter | ( | ) |
Destructor.
virtual void MipAlgorithms::MutLocFilter::step | ( | MutLocFilInput & | input | ) | [pure virtual] |
Generic step function.
[in] | &input | MutLocFilInput that provides all variables needed by a single step of the filter |
Implemented in MipAlgorithms::DAEKFilter, MipAlgorithms::ParticleFilter, MipAlgorithms::PaFilBFL, MipAlgorithms::PaFilBFLAbsRel, MipAlgorithms::PaFilBFLRelRel, MipAlgorithms::PaFilBFLRelRelBearOnly, MipAlgorithms::PaFilBFLRelRelNoMR, and MipAlgorithms::RelParticleFilter.
virtual void MipAlgorithms::MutLocFilter::reset | ( | ) | [pure virtual] |
Reset function: reset the filter.
Implemented in MipAlgorithms::DAEKFilter, MipAlgorithms::ParticleFilter, MipAlgorithms::PaFilBFL, MipAlgorithms::PaFilBFLAbsRel, MipAlgorithms::PaFilBFLRelRel, MipAlgorithms::PaFilBFLRelRelBearOnly, MipAlgorithms::PaFilBFLRelRelNoMR, and MipAlgorithms::RelParticleFilter.
virtual int MipAlgorithms::MutLocFilter::getEstimate | ( | Pose * | best | ) | [pure virtual] |
Get the estimate with the highest value.
[out] | *best | Pointer to Pose in which is written the best estimate. |
Implemented in MipAlgorithms::DAEKFilter, MipAlgorithms::ParticleFilter, MipAlgorithms::PaFilBFL, and MipAlgorithms::RelParticleFilter.
virtual int MipAlgorithms::MutLocFilter::getCovariance | ( | MIPMatrix * | cov | ) | [inline, virtual] |
Get the covariance of the estimate.
[out] | *best | Pointer to MIPMatrix in which is written the covariance. |
Reimplemented in MipAlgorithms::PaFilBFL.
virtual int MipAlgorithms::MutLocFilter::getAllEstimates | ( | vector< Pose > & | all, | |
vector< Decimal > & | allMarks | |||
) | [pure virtual] |
Get the cluster with the highest value.
[out] | &best | Vector of Poses in which all the estimates of the filter are written. |
Implemented in MipAlgorithms::DAEKFilter, MipAlgorithms::ParticleFilter, MipAlgorithms::PaFilBFL, and MipAlgorithms::RelParticleFilter.
virtual string MipAlgorithms::MutLocFilter::print | ( | ) | [pure virtual] |
void MipAlgorithms::MutLocFilter::init | ( | ) |
Set true initialized bool.
void MipAlgorithms::MutLocFilter::uninit | ( | ) |
Set false initialize bool.
bool MipAlgorithms::MutLocFilter::initialized | ( | ) |
Return if initialized.
bool MipAlgorithms::MutLocFilter::firstPosteriorComputed | ( | ) | [inline] |
Says if the first Posterior density function has been computed.
void MipAlgorithms::MutLocFilter::setFirstPosteriorComputed | ( | ) | [inline] |
Sets that the first Posterior density function has been computed.