#include <mrpt/bayes/CParticleFilter.h>
Classes | |
struct | TParticleFilterOptions |
The configuration of a particle filter. More... | |
struct | TParticleFilterStats |
Statistics for being returned from the "execute" method. More... | |
Public Types | |
enum | TParticleFilterAlgorithm { pfStandardProposal = 0, pfAuxiliaryPFStandard, pfOptimalProposal, pfAuxiliaryPFOptimal } |
Defines different types of particle filter algorithms. More... | |
enum | TParticleResamplingAlgorithm { prMultinomial = 0, prResidual, prStratified, prSystematic } |
Defines the different resampling algorithms. More... | |
Public Member Functions | |
CParticleFilter (CParticleFilterCapable *obj, const TParticleFilterOptions &opts) | |
Constructor with a PDF object. | |
CParticleFilter () | |
Default constructor. | |
CParticleFilter (const CParticleFilter &o) | |
CParticleFilter & | operator= (const CParticleFilter &o) |
~CParticleFilter () | |
MRPT_DEPRECATED_PRE void | execute (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, TParticleFilterStats *stats=NULL) MRPT_DEPRECATED_POST |
Executes a complete prediction + update step of the selected particle filtering algorithm. | |
void | executeOn (CParticleFilterCapable &obj, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, TParticleFilterStats *stats=NULL) |
Executes a complete prediction + update step of the selected particle filtering algorithm. | |
Public Attributes | |
CParticleFilter::TParticleFilterOptions | m_options |
The options to be used in the PF, must be set before executing any step of the particle filter. | |
Protected Attributes | |
CParticleFilterCapable * | m_obj |
The PDF object to run the filter on. |
The particle filter is executed on a probability density function (PDF) described by a CParticleFilterCapable object, passed in the constructor or alternatively through the CParticleFilter::executeOn method.
For a complete example and further details, see the Particle Filter tutorial.
The basic SIR algorithm (pfStandardProposal) consists of:
Definition at line 63 of file CParticleFilter.h.
Defines different types of particle filter algorithms.
The defined SIR implementations are:
See the theoretical discussion in resampling schemes.
Definition at line 76 of file CParticleFilter.h.
Defines the different resampling algorithms.
The implemented resampling methods are:
See the theoretical discussion in resampling schemes.
Definition at line 93 of file CParticleFilter.h.
mrpt::bayes::CParticleFilter::CParticleFilter | ( | CParticleFilterCapable * | obj, | |
const TParticleFilterOptions & | opts | |||
) |
Constructor with a PDF object.
obj | An existing object representing a set of particles describing PDF. | |
opts | The configuration of the particle filter. |
mrpt::bayes::CParticleFilter::CParticleFilter | ( | ) |
Default constructor.
After creating the PF object, set the options in CParticleFilter::m_options, then execute steps through CParticleFilter::executeOn.
mrpt::bayes::CParticleFilter::CParticleFilter | ( | const CParticleFilter & | o | ) | [inline] |
Definition at line 177 of file CParticleFilter.h.
mrpt::bayes::CParticleFilter::~CParticleFilter | ( | ) | [inline] |
Definition at line 186 of file CParticleFilter.h.
MRPT_DEPRECATED_PRE void mrpt::bayes::CParticleFilter::execute | ( | const mrpt::slam::CActionCollection * | action, | |
const mrpt::slam::CSensoryFrame * | observation, | |||
TParticleFilterStats * | stats = NULL | |||
) |
Executes a complete prediction + update step of the selected particle filtering algorithm.
This method must be used only if a pointer to the PDF was passed in the contructor. The executeOn method is preferred since does not imply storing any pointer so it's safer.
action | A pointer to an action in the form of a CActionCollection, or NULL if there is no action. | |
observation | A pointer to observations in the form of a CSensoryFrame, or NULL if there is no observation. | |
stats | An output structure for gathering statistics of the particle filter execution, or set to NULL if you do not need it (see CParticleFilter::TParticleFilterStats). |
void mrpt::bayes::CParticleFilter::executeOn | ( | CParticleFilterCapable & | obj, | |
const mrpt::slam::CActionCollection * | action, | |||
const mrpt::slam::CSensoryFrame * | observation, | |||
TParticleFilterStats * | stats = NULL | |||
) |
Executes a complete prediction + update step of the selected particle filtering algorithm.
The member CParticleFilter::m_options must be set before calling this to settle the algorithm parameters.
obj | The object representing the probability distribution function (PDF) which apply the particle filter algorithm to. | |
action | A pointer to an action in the form of a CActionCollection, or NULL if there is no action. | |
observation | A pointer to observations in the form of a CSensoryFrame, or NULL if there is no observation. | |
stats | An output structure for gathering statistics of the particle filter execution, or set to NULL if you do not need it (see CParticleFilter::TParticleFilterStats). |
CParticleFilter& mrpt::bayes::CParticleFilter::operator= | ( | const CParticleFilter & | o | ) | [inline] |
The PDF object to run the filter on.
Definition at line 226 of file CParticleFilter.h.
Referenced by operator=().
The options to be used in the PF, must be set before executing any step of the particle filter.
Definition at line 221 of file CParticleFilter.h.
Referenced by operator=().
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