estimation::TrackerParticle Class Reference

#include <tracker_particle.h>

Inheritance diagram for estimation::TrackerParticle:

[legend]

List of all members.

Public Member Functions
virtual void	getEstimate (srs_msgs::PositionMeasurement &est) const
virtual void	getEstimate (BFL::StatePosVel &est) const
	get filter posterior
MatrixWrapper::Matrix	getHistogramPos (const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
	Get histogram from certain area.
MatrixWrapper::Matrix	getHistogramVel (const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
virtual double	getLifetime () const
	return the lifetime of the tracker
void	getParticleCloud (const tf::Vector3 &step, double threshold, sensor_msgs::PointCloud &cloud) const
virtual double	getQuality () const
	return measure for tracker quality: 0=bad 1=good
virtual double	getTime () const
	return the time of the tracker
virtual void	initialize (const BFL::StatePosVel &mu, const BFL::StatePosVel &sigma, const double time)
	initialize tracker
virtual bool	isInitialized () const
	return if tracker was initialized
	TrackerParticle (const std::string &name, unsigned int num_particles, const BFL::StatePosVel &sysnoise)
	constructor
virtual bool	updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov)
virtual bool	updatePrediction (const double time)
	update tracker
virtual	~TrackerParticle ()
	destructor
Private Attributes
BFL::BootstrapFilter < BFL::StatePosVel, tf::Vector3 > *	filter_
double	filter_time_
double	init_time_
BFL::MeasModelPos	meas_model_
unsigned int	num_particles_
BFL::MCPdfPosVel	prior_
double	quality_
BFL::SysModelPosVel	sys_model_
bool	tracker_initialized_

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Detailed Description

Definition at line 50 of file tracker_particle.h.

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Constructor & Destructor Documentation

estimation::TrackerParticle::TrackerParticle	(	const std::string &	name,
		unsigned int	num_particles,
		const BFL::StatePosVel &	sysnoise
	)

constructor

estimation::TrackerParticle::~TrackerParticle

(

)

[virtual]

destructor

Definition at line 66 of file tracker_particle.cpp.

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Member Function Documentation

void estimation::TrackerParticle::getEstimate

(

srs_msgs::PositionMeasurement &

est

)

const [virtual]

Implements estimation::Tracker.

Definition at line 142 of file tracker_particle.cpp.

void estimation::TrackerParticle::getEstimate

(

BFL::StatePosVel &

est

)

const [virtual]

get filter posterior

Implements estimation::Tracker.

Definition at line 136 of file tracker_particle.cpp.

Matrix estimation::TrackerParticle::getHistogramPos	(	const tf::Vector3 &	min,
		const tf::Vector3 &	max,
		const tf::Vector3 &	step
	)			const

Get histogram from certain area.

Definition at line 159 of file tracker_particle.cpp.

Matrix estimation::TrackerParticle::getHistogramVel	(	const tf::Vector3 &	min,
		const tf::Vector3 &	max,
		const tf::Vector3 &	step
	)			const

Definition at line 165 of file tracker_particle.cpp.

double estimation::TrackerParticle::getLifetime

(

)

const [virtual]

return the lifetime of the tracker

Implements estimation::Tracker.

Definition at line 171 of file tracker_particle.cpp.

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

Definition at line 129 of file tracker_particle.cpp.

virtual double estimation::TrackerParticle::getQuality

(

)

const [inline, virtual]

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

Implements estimation::Tracker.

Definition at line 63 of file tracker_particle.h.

double estimation::TrackerParticle::getTime

(

)

const [virtual]

return the time of the tracker

Implements estimation::Tracker.

Definition at line 180 of file tracker_particle.cpp.

void estimation::TrackerParticle::initialize	(	const BFL::StatePosVel &	mu,
		const BFL::StatePosVel &	sigma,
		const double	time
	)			[virtual]

initialize tracker

Implements estimation::Tracker.

Definition at line 72 of file tracker_particle.cpp.

virtual bool estimation::TrackerParticle::isInitialized

(

)

const [inline, virtual]

return if tracker was initialized

Implements estimation::Tracker.

Definition at line 60 of file tracker_particle.h.

bool estimation::TrackerParticle::updateCorrection	(	const tf::Vector3 &	meas,
		const MatrixWrapper::SymmetricMatrix &	cov
	)			[virtual]

Implements estimation::Tracker.

Definition at line 113 of file tracker_particle.cpp.

bool estimation::TrackerParticle::updatePrediction

(

const double

time

)

[virtual]

update tracker

Implements estimation::Tracker.

Definition at line 95 of file tracker_particle.cpp.

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Member Data Documentation

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

Definition at line 90 of file tracker_particle.h.

double estimation::TrackerParticle::filter_time_ [private]

Definition at line 96 of file tracker_particle.h.

double estimation::TrackerParticle::init_time_ [private]

Definition at line 96 of file tracker_particle.h.

BFL::MeasModelPos estimation::TrackerParticle::meas_model_ [private]

Definition at line 92 of file tracker_particle.h.

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

Definition at line 97 of file tracker_particle.h.

BFL::MCPdfPosVel estimation::TrackerParticle::prior_ [private]

Definition at line 89 of file tracker_particle.h.

double estimation::TrackerParticle::quality_ [private]

Definition at line 96 of file tracker_particle.h.

BFL::SysModelPosVel estimation::TrackerParticle::sys_model_ [private]

Definition at line 91 of file tracker_particle.h.

bool estimation::TrackerParticle::tracker_initialized_ [private]

Definition at line 95 of file tracker_particle.h.

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

• tracker_particle.h
• tracker_particle.cpp