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Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
humanoid_localization::ObservationModel Class Reference

#include <ObservationModel.h>

Inheritance diagram for humanoid_localization::ObservationModel:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)=0
virtual void integratePoseMeasurement (Particles &particles, double roll, double pitch, const tf::StampedTransform &footprintToTorso)
 ObservationModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual void setMap (boost::shared_ptr< octomap::OcTree > map)
virtual ~ObservationModel ()

Static Public Member Functions

static double logLikelihood (double x, double sigma)
 Helper function to compute the log likelihood.
static double logLikelihoodSq (double x_sq, double sigma)
 Helper function to compute the log likelihood based on sqared distances.

Protected Member Functions

virtual bool getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const =0

Protected Attributes

boost::shared_ptr
< octomap::OcTree > 
m_map
boost::shared_ptr< MapModelm_mapModel
ros::Publisher m_pc_pub
EngineT m_rngEngine
NormalGeneratorT m_rngNormal
UniformGeneratorT m_rngUniform
double m_sigmaPitch
double m_sigmaRoll
double m_sigmaZ
bool m_use_squared_error
double m_weightPitch
double m_weightRoll
double m_weightZ

Detailed Description

Definition at line 51 of file ObservationModel.h.


Constructor & Destructor Documentation

humanoid_localization::ObservationModel::ObservationModel ( ros::NodeHandle nh,
boost::shared_ptr< MapModel mapModel,
EngineT rngEngine 
)

Definition at line 31 of file ObservationModel.cpp.

Definition at line 55 of file ObservationModel.cpp.


Member Function Documentation

virtual bool humanoid_localization::ObservationModel::getHeightError ( const Particle p,
const tf::StampedTransform footprintToBase,
double &  heightError 
) const [protected, pure virtual]
virtual void humanoid_localization::ObservationModel::integrateMeasurement ( Particles particles,
const PointCloud pc,
const std::vector< float > &  ranges,
float  max_range,
const tf::Transform baseToSensor 
) [pure virtual]

Integrate a measurement in particle set, update weights accordingly Particle weights should be in log scale before, weights are added.

Implemented in humanoid_localization::EndpointModel, and humanoid_localization::RaycastingModel.

void humanoid_localization::ObservationModel::integratePoseMeasurement ( Particles particles,
double  roll,
double  pitch,
const tf::StampedTransform footprintToTorso 
) [virtual]

Definition at line 58 of file ObservationModel.cpp.

static double humanoid_localization::ObservationModel::logLikelihood ( double  x,
double  sigma 
) [inline, static]

Helper function to compute the log likelihood.

Definition at line 57 of file ObservationModel.h.

static double humanoid_localization::ObservationModel::logLikelihoodSq ( double  x_sq,
double  sigma 
) [inline, static]

Helper function to compute the log likelihood based on sqared distances.

Definition at line 63 of file ObservationModel.h.

void humanoid_localization::ObservationModel::setMap ( boost::shared_ptr< octomap::OcTree >  map) [virtual]

Reimplemented in humanoid_localization::EndpointModel.

Definition at line 81 of file ObservationModel.cpp.


Member Data Documentation

boost::shared_ptr<octomap::OcTree> humanoid_localization::ObservationModel::m_map [protected]

Definition at line 88 of file ObservationModel.h.

Definition at line 84 of file ObservationModel.h.

Definition at line 89 of file ObservationModel.h.

Definition at line 85 of file ObservationModel.h.

Definition at line 86 of file ObservationModel.h.

Definition at line 87 of file ObservationModel.h.

Definition at line 97 of file ObservationModel.h.

Definition at line 96 of file ObservationModel.h.

Definition at line 95 of file ObservationModel.h.

Definition at line 99 of file ObservationModel.h.

Definition at line 92 of file ObservationModel.h.

Definition at line 91 of file ObservationModel.h.

Definition at line 93 of file ObservationModel.h.


The documentation for this class was generated from the following files:
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humanoid_localization
Author(s): Armin Hornung, Stefan Osswald, Daniel Maier
autogenerated on Tue Oct 15 2013 10:06:09