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afsMeasurementUpdate.cc File Reference

#include "afsParticle.h"
#include "afsTriangulator.h"
#include "afsUtility.h"
#include <math.h>
#include <stdio.h>

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Functions

void doPriming (afsParticle *p, int landmark, double theta)
void doKalmanUpdate (afsParticle *p, int landmark, double theta)
void afsMeasurementUpdate (afsParticle *p, int landmark, double theta)

Function Documentation

void afsMeasurementUpdate (  afsParticle *  p,
int  landmark,
double  theta
) 
 

Definition at line 23 of file afsMeasurementUpdate.cc.

References afsParticle, doKalmanUpdate(), doPriming(), _afsParticle::landmarks, _afsParticle::pose, _afsLandmarkLoc::state, and _afsPose::theta.

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void doKalmanUpdate (  afsParticle *  p,
int  landmark,
double  theta
) 
 

Definition at line 80 of file afsMeasurementUpdate.cc.

References AFS_MEASURE_VARIANCE, AFS_VARIANCE_MULTIPLIER, afsLandmarkLoc, afsParticle, find_dtheta(), _afsParticle::gotweight, _afsParticle::landmarks, _afsLandmarkLoc::mean, _afsParticle::pose, R, _afsLandmarkLoc::variance, _afsParticle::weight, _afsPose::x, and _afsPose::y.

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void doPriming (  afsParticle *  p,
int  landmark,
double  theta
) 
 

Definition at line 39 of file afsMeasurementUpdate.cc.

References afsLastObservation, afsParticle, afsTriangulator(), _afsLastObservation::empty, _afsParticle::gotweight, _afsParticle::landmarks, _afsParticle::pose, _afsLandmarkLoc::priming, _afsLandmarkLoc::state, _afsLastObservation::theta, _afsPose::x, _afsLastObservation::x, _afsPose::y, and _afsLastObservation::y.

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