rfid_pf::lib_pfilter Namespace Reference

Classes
class	NoMeasure
class	NoMotion
class	PFilter
Functions
def	normalize_likelihood
def	resample_uss
Variables
tuple	pf = PFilter( NoMotion(), NoMeasure(), xyw )
tuple	xyw

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Function Documentation

def rfid_pf.lib_pfilter.normalize_likelihood

(

weighted_particles

)

Make all the particle weights sum up to 1 

Definition at line 75 of file lib_pfilter.py.

def rfid_pf.lib_pfilter.resample_uss	(		num_samples,
			particles
	)

    Universal stochastic sampler (low variance resampling)
    num_samples - number of samples desired
    particles   - pairs of (state, weight) tuples

Definition at line 53 of file lib_pfilter.py.

---

Variable Documentation

tuple rfid_pf::lib_pfilter::pf = PFilter( NoMotion(), NoMeasure(), xyw )

Definition at line 111 of file lib_pfilter.py.

tuple rfid_pf::lib_pfilter::xyw

Initial value:

np.row_stack([ X.flatten(),  # Build Nx3
                         Y.flatten(),
                         np.ones( X.shape ).flatten() ])

Definition at line 107 of file lib_pfilter.py.