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afsParticle.h File Reference

#include "Configuration.h"

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Classes

struct  _afsLandmarkLoc
struct  _afsLastObservation
struct  _afsParticle
struct  _afsPose

Typedefs

typedef _afsPose afsPose
typedef _afsLastObservation afsLastObservation
typedef _afsLandmarkLoc afsLandmarkLoc
typedef _afsParticle afsParticle

Functions

void afsParticleInit (afsParticle *p)
void afsParticleCopy (afsParticle *old, afsParticle *neu)

Typedef Documentation

typedef struct _afsLandmarkLoc afsLandmarkLoc
 

This structure is used within afsParticle structures to encode information about landmark location

typedef struct _afsLastObservation afsLastObservation
 

This structure is used within afsLandmarkLoc during the initialization phase, when it is necessary to triangulate the location of the landmark before using regular FastSLAM techniques.

typedef struct _afsParticle afsParticle
 

This structure contains data for each particle used by the particle filter. Since we have a fixed number of landmarks, we simply fix the number of afsLandmarkLoc structures inside.

typedef struct _afsPose afsPose
 

This structure contains a robot pose. Pretty simple.

Function Documentation

void afsParticleCopy (  afsParticle *  old,
afsParticle *  neu
) 
 

Copy an afsParticle

Definition at line 30 of file afsParticle.cc.

References afsParticle.

void afsParticleInit (  afsParticle *  p  ) 
 

Initialize a new afsParticle

Definition at line 10 of file afsParticle.cc.

References AFS_NUM_LANDMARKS, afsParticle, _afsLastObservation::empty, _afsParticle::gotweight, _afsParticle::landmarks, _afsLandmarkLoc::mean, _afsParticle::pose, _afsLandmarkLoc::priming, _afsLandmarkLoc::state, _afsPose::theta, _afsLandmarkLoc::variance, _afsParticle::weight, _afsPose::x, and _afsPose::y.


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