DualCoding::ShapeSLAMParticleEvaluator Class Reference
extends ParticleShapeEvaluator to handle the addition and removal of landmarks as necessary More...
#include <ShapeSLAMParticleFilter.h>
Detailed Description
extends ParticleShapeEvaluator to handle the addition and removal of landmarks as necessary
Definition at line 40 of file ShapeSLAMParticleFilter.h.
Public Member Functions | |
| ShapeSLAMParticleEvaluator (ShapeSpace &localShS, ShapeSpace &worldShS, float addPenalty) | |
| constructor, addPenalty specifies how much to add/multiply (logspace/linear space) weight when considering a landmark as an addition | |
| void | evaluate (ShapeSLAMParticle &part) |
| provides evaluation of SLAM-particles | |
Protected Member Functions | |
| void | determineAdditions (ShapeSLAMParticle &part, unsigned int const nLocals, int localMatches[], float localScores[]) |
| may mark landmarks for addition which don't appear in the world map | |
| void | determineDeletions (ShapeSLAMParticle &part, unsigned int const nLocals, int const localMatches[], float const particleViewX[], float const particleViewY[], float const particleViewX2[], float const particleViewY2[]) |
| may mark landmarks for removal which don't appear in the world map | |
Protected Attributes | |
| bool | localMobile |
| set to true if *any* landmarks are marked as "mobile" | |
| bool | worldMobile |
| set to true if *any* landmarks are marked as "mobile" | |
| const float | ADDITION_PENALTY |
| the value passed to the constructor, limits how readily landmarks are added to the map | |
Constructor & Destructor Documentation
| DualCoding::ShapeSLAMParticleEvaluator::ShapeSLAMParticleEvaluator | ( | ShapeSpace & | localShS, | |
| ShapeSpace & | worldShS, | |||
| float | addPenalty | |||
| ) |
constructor, addPenalty specifies how much to add/multiply (logspace/linear space) weight when considering a landmark as an addition
Definition at line 24 of file ShapeSLAMParticleFilter.cc.
Member Function Documentation
| void DualCoding::ShapeSLAMParticleEvaluator::determineAdditions | ( | ShapeSLAMParticle & | part, | |
| unsigned int const | nLocals, | |||
| int | localMatches[], | |||
| float | localScores[] | |||
| ) | [protected] |
may mark landmarks for addition which don't appear in the world map
Definition at line 52 of file ShapeSLAMParticleFilter.cc.
Referenced by evaluate().
| void DualCoding::ShapeSLAMParticleEvaluator::determineDeletions | ( | ShapeSLAMParticle & | part, | |
| unsigned int const | nLocals, | |||
| int const | localMatches[], | |||
| float const | particleViewX[], | |||
| float const | particleViewY[], | |||
| float const | particleViewX2[], | |||
| float const | particleViewY2[] | |||
| ) | [protected] |
may mark landmarks for removal which don't appear in the world map
Definition at line 82 of file ShapeSLAMParticleFilter.cc.
Referenced by evaluate().
| void DualCoding::ShapeSLAMParticleEvaluator::evaluate | ( | ShapeSLAMParticle & | part | ) |
provides evaluation of SLAM-particles
Definition at line 33 of file ShapeSLAMParticleFilter.cc.
Referenced by DualCoding::ShapeSLAMSensorModel< ShapeSLAMParticle >::evaluate().
Member Data Documentation
const float DualCoding::ShapeSLAMParticleEvaluator::ADDITION_PENALTY [protected] |
the value passed to the constructor, limits how readily landmarks are added to the map
Definition at line 56 of file ShapeSLAMParticleFilter.h.
bool DualCoding::ShapeSLAMParticleEvaluator::localMobile [protected] |
set to true if *any* landmarks are marked as "mobile"
Definition at line 54 of file ShapeSLAMParticleFilter.h.
Referenced by evaluate(), and ShapeSLAMParticleEvaluator().
bool DualCoding::ShapeSLAMParticleEvaluator::worldMobile [protected] |
set to true if *any* landmarks are marked as "mobile"
Definition at line 55 of file ShapeSLAMParticleFilter.h.
Referenced by evaluate(), and ShapeSLAMParticleEvaluator().
The documentation for this class was generated from the following files:
