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ParticleFilter< ParticleT >::SensorModel Class Reference #include <ParticleFilter.h> List of all members. Detailed Description template<typename ParticleT> class ParticleFilter< ParticleT >::SensorModel A sensor model is used to update particle weights to account based on each particle's ability to explain observations taken from the system. Definition at line 134 of file ParticleFilter.h. Public Types typedef ParticleT  particle_type   redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef typedef std::vector < particle_type >  particle_collection   the collection type we'll be using to store the particles typedef particle_collection::size_type  index_t   index type for refering to particles within the collection Public Member Functions virtual  ~SensorModel ()   destructor (no-op for base class) virtual void  evaluate (particle_collection &particles, index_t &bestIndex)=0   once passed to the particle filter's updateSensors(), this will be called to allow the sensor model to update the 'weight' member of each particle Member Typedef Documentation template<typename ParticleT> typedef ParticleT ParticleFilter< ParticleT >::SensorModel::particle_type redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef Definition at line 136 of file ParticleFilter.h. template<typename ParticleT> typedef std::vector<particle_type> ParticleFilter< ParticleT >::SensorModel::particle_collection the collection type we'll be using to store the particles Definition at line 137 of file ParticleFilter.h. template<typename ParticleT> typedef particle_collection::size_type ParticleFilter< ParticleT >::SensorModel::index_t index type for refering to particles within the collection Definition at line 138 of file ParticleFilter.h. Constructor & Destructor Documentation template<typename ParticleT> virtual ParticleFilter< ParticleT >::SensorModel::~SensorModel (  )  [inline, virtual] destructor (no-op for base class) Definition at line 139 of file ParticleFilter.h. Member Function Documentation template<typename ParticleT> virtual void ParticleFilter< ParticleT >::SensorModel::evaluate ( particle_collection &  particles, index_t &  bestIndex   ) [pure virtual] once passed to the particle filter's updateSensors(), this will be called to allow the sensor model to update the 'weight' member of each particle Parameters: particles  the current set of particles to be evaluated [in]  bestIndex  on input, this will hold the index within particles of the particle with the highest weight. [out]  bestIndex  on return, your function should update the parameter so it still indicates the best particle Remember to update each particle's weight, don't overwrite it. In other words, you want to combine (e.g. add or multiply) the weight from the current sensor evaluation with the weight currently stored in each particle, don't just replace it. This is because there may be several sensor updates between resamplings so that particles can be more accurately evaluated. Referenced by ParticleFilter< ParticleT >::updateSensors(). The documentation for this class was generated from the following file: ParticleFilter.h

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