SLAMShapesSensorModel Class Template Reference
#include <PFShapeSLAM.h>
Detailed Description
template<typename ParticleT>
class DualCoding::SLAMShapesSensorModel< ParticleT >
this wraps the SLAMParticleShapeEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter
see ShapeSensorModel for discussion of architectural issues vs separation of SLAMParticleShapeEvaluator
Definition at line 73 of file PFShapeSLAM.h.
Public Types | |
| typedef ParticleFilter < ParticleT > ::SensorModel::index_t | index_t |
| convenience typedef | |
| typedef ParticleFilter < ParticleT > ::SensorModel::particle_collection | particle_collection |
| convenience typedef | |
Public Member Functions | |
| SLAMShapesSensorModel (ShapeSpace &localShS, ShapeSpace &worldShS) | |
| constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly | |
| virtual void | evaluate (particle_collection &particles, index_t &bestIndex) |
| applies the SLAMParticleShapeEvaluator across a collection of particles and tracks the best weight | |
| ShapeSpace & | getLocalShS () const |
| ShapeSpace & | getWorldShS () const |
Public Attributes | |
| float | stdevSq |
| controls how much weight is given to "near-misses" | |
| float | addPenalty |
| controls how readily new landmarks are added to the map, vs. penalizing the particle for a bad match | |
Protected Member Functions | |
| float | normpdf (float const distsq) |
| computes a (non-normalized) gaussian distribution | |
Protected Attributes | |
| ShapeSpace & | lShS |
| Local shape space. | |
| ShapeSpace & | wShS |
| World shape space. | |
| unsigned int | particleLocalLandmarks |
| number of entries in particles' individual addLocal (so we know if we need to resize it in all particles) | |
| unsigned int | particleWorldLandmarks |
| number of entries in particles' individual deleteWorld (so we know if we need to resize it in all particles) | |
Member Typedef Documentation
| typedef ParticleFilter<ParticleT>::SensorModel::index_t index_t |
| typedef ParticleFilter<ParticleT>::SensorModel::particle_collection particle_collection |
Constructor & Destructor Documentation
| SLAMShapesSensorModel | ( | ShapeSpace & | localShS, | |
| ShapeSpace & | worldShS | |||
| ) | [inline] |
constructor, the standard deviation on matches defaults to 60, but you can always reassign stdevSq directly
Definition at line 79 of file PFShapeSLAM.h.
Member Function Documentation
| virtual void evaluate | ( | particle_collection & | particles, | |
| index_t & | bestIndex | |||
| ) | [inline, virtual] |
applies the SLAMParticleShapeEvaluator across a collection of particles and tracks the best weight
Definition at line 90 of file PFShapeSLAM.h.
| ShapeSpace& getLocalShS | ( | ) | const [inline] |
Definition at line 117 of file PFShapeSLAM.h.
| ShapeSpace& getWorldShS | ( | ) | const [inline] |
Definition at line 118 of file PFShapeSLAM.h.
| float normpdf | ( | float const | distsq | ) | [inline, protected] |
computes a (non-normalized) gaussian distribution
normalization doesn't matter because it's constant across particles, and so doesn't matter for purposes of comparison between particles
Definition at line 130 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate().
Member Data Documentation
| float stdevSq |
controls how much weight is given to "near-misses"
Definition at line 85 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate(), and SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::normpdf().
| float addPenalty |
controls how readily new landmarks are added to the map, vs. penalizing the particle for a bad match
Definition at line 87 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate().
ShapeSpace& lShS [protected] |
Local shape space.
Definition at line 121 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate(), and SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::getWorldShS().
ShapeSpace& wShS [protected] |
World shape space.
Definition at line 122 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate().
unsigned int particleLocalLandmarks [protected] |
number of entries in particles' individual addLocal (so we know if we need to resize it in all particles)
Definition at line 124 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate().
unsigned int particleWorldLandmarks [protected] |
number of entries in particles' individual deleteWorld (so we know if we need to resize it in all particles)
Definition at line 125 of file PFShapeSLAM.h.
Referenced by SLAMShapesSensorModel< DualCoding::SLAMShapesParticle >::evaluate().
The documentation for this class was generated from the following file:
