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Particle.hGo to the documentation of this file.00001 //-*-c++-*- 00002 00003 #ifndef _LOADED_Particle_h_ 00004 #define _LOADED_Particle_h_ 00005 00006 #include <vector> 00007 #include <iostream> 00008 00009 #include "Measures.h" // coordinate_t, AngTwoPi 00010 00011 using namespace std; 00012 00013 namespace DualCoding { 00014 00015 //! Each Particle represents a hypothesis about the match of the local map to the world map. 00016 00017 class Particle { 00018 public: 00019 coordinate_t dx, dy; //!< Translation from local to world coordinates 00020 AngTwoPi theta; //!< Rotation of local map into world map 00021 vector<bool> addLocal; //!< true for local landmarks missing from the world map 00022 // vector<bool> deleteWorld; //!< true for world landmarks missing from the local map 00023 float prob; //!< Computed likelihood of this Particle 00024 00025 //! Constructor 00026 Particle() : dx(0), dy(0), theta(0), addLocal(), 00027 // deleteWorld(nworld,false), 00028 prob(-1) {} 00029 00030 }; 00031 00032 ostream& operator << (ostream& os, const Particle &p); 00033 00034 } // namespace 00035 00036 #endif |
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DualCoding 3.0beta |
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