estimation::DetectorParticle Class Reference

#include <detector_particle.h>

List of all members.

Public Member Functions
	DetectorParticle (unsigned int num_particles)
	constructor
void	getEstimate (srs_msgs::PositionMeasurement &est) const
void	getEstimate (tf::Vector3 &est) const
	get filter posterior
MatrixWrapper::Matrix	getHistogram (const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
	Get histogram from certain area.
void	getParticleCloud (const tf::Vector3 &step, double threshold, sensor_msgs::PointCloud &cloud) const
double	getQuality () const
	return measure for detector quality: 0=bad 1=good
void	initialize (const tf::Vector3 &mu, const tf::Vector3 &size, const double time)
	initialize detector
bool	isInitialized () const
	return if detector was initialized
bool	updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov, const double time)
bool	updatePrediction (const double dt)
	update detector
	~DetectorParticle ()
	destructor
Private Attributes
bool	detector_initialized_
BFL::BootstrapFilter < tf::Vector3, tf::Vector3 > *	filter_
double	filter_time_
BFL::MeasModelVector	meas_model_
unsigned int	num_particles_
BFL::MCPdfVector	prior_
double	quality_
BFL::SysModelVector	sys_model_

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Detailed Description

Definition at line 50 of file detector_particle.h.

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Constructor & Destructor Documentation

estimation::DetectorParticle::DetectorParticle

(

unsigned int

num_particles

)

constructor

Definition at line 54 of file detector_particle.cpp.

estimation::DetectorParticle::~DetectorParticle

(

)

destructor

Definition at line 66 of file detector_particle.cpp.

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Member Function Documentation

void estimation::DetectorParticle::getEstimate

(

srs_msgs::PositionMeasurement &

est

)

const

Definition at line 140 of file detector_particle.cpp.

void estimation::DetectorParticle::getEstimate

(

tf::Vector3 &

est

)

const

get filter posterior

Definition at line 134 of file detector_particle.cpp.

Matrix estimation::DetectorParticle::getHistogram	(	const tf::Vector3 &	min,
		const tf::Vector3 &	max,
		const tf::Vector3 &	step
	)			const

Get histogram from certain area.

Definition at line 157 of file detector_particle.cpp.

void estimation::DetectorParticle::getParticleCloud	(	const tf::Vector3 &	step,
		double	threshold,
		sensor_msgs::PointCloud &	cloud
	)			const

Definition at line 127 of file detector_particle.cpp.

double estimation::DetectorParticle::getQuality

(

)

const [inline]

return measure for detector quality: 0=bad 1=good

Definition at line 63 of file detector_particle.h.

void estimation::DetectorParticle::initialize	(	const tf::Vector3 &	mu,
		const tf::Vector3 &	size,
		const double	time
	)

initialize detector

Definition at line 72 of file detector_particle.cpp.

bool estimation::DetectorParticle::isInitialized

(

)

const [inline]

return if detector was initialized

Definition at line 60 of file detector_particle.h.

bool estimation::DetectorParticle::updateCorrection	(	const tf::Vector3 &	meas,
		const MatrixWrapper::SymmetricMatrix &	cov,
		const double	time
	)

Definition at line 108 of file detector_particle.cpp.

bool estimation::DetectorParticle::updatePrediction

(

const double

dt

)

update detector

Definition at line 93 of file detector_particle.cpp.

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Member Data Documentation

bool estimation::DetectorParticle::detector_initialized_ [private]

Definition at line 89 of file detector_particle.h.

BFL::BootstrapFilter<tf::Vector3, tf::Vector3>* estimation::DetectorParticle::filter_ [private]

Definition at line 84 of file detector_particle.h.

double estimation::DetectorParticle::filter_time_ [private]

Definition at line 90 of file detector_particle.h.

BFL::MeasModelVector estimation::DetectorParticle::meas_model_ [private]

Definition at line 86 of file detector_particle.h.

unsigned int estimation::DetectorParticle::num_particles_ [private]

Definition at line 91 of file detector_particle.h.

BFL::MCPdfVector estimation::DetectorParticle::prior_ [private]

Definition at line 83 of file detector_particle.h.

double estimation::DetectorParticle::quality_ [private]

Definition at line 90 of file detector_particle.h.

BFL::SysModelVector estimation::DetectorParticle::sys_model_ [private]

Definition at line 85 of file detector_particle.h.

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The documentation for this class was generated from the following files:

• detector_particle.h
• detector_particle.cpp