Class representing the histogram filter. More...

#include <histogramfilter.h>

Inheritance diagram for BFL::HistogramFilter< MeasVar >:

Public Member Functions
	HistogramFilter (DiscretePdf *prior)
	Constructor.
virtual DiscretePdf *	PostGet ()
	Get Posterior density.
virtual	~HistogramFilter ()
	Destructor.
Protected Member Functions
void	MeasUpdate (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
	Measurement Update.
void	SysUpdate (SystemModel< int > *const sysmodel, const int &u)
bool	UpdateInternal (SystemModel< int > const sysmodel, const int &u, MeasurementModel< MeasVar, int > const measmodel, const MeasVar &z, const int &s)
	Actual implementation of Update, varies along filters.
Protected Attributes
vector< Probability >	_new_prob
	While updating store list of new probabilities.
vector< Probability >	_old_prob
	While updating store list of old probabilities.

Detailed Description

template<typename MeasVar>
class BFL::HistogramFilter< MeasVar >

Class representing the histogram filter.

This is a class representing the histogram filter. A histogram filter is the basic discrete state filter for histogram representations of the state. The implementation is based upon Probabilistic Robotics book of Thrun, Burgard, Fox

{ ThrunBurgardFox2005, author = {Thrun, S. and Burgard, W. and Fox, D.}, title = {Probabilistic Robotics}, publisher = {MIT Press}, year = {2005}, issn_isbn = {0-262-20162-3}, annote = {{http://www.probabilistic-robotics.org}}, keywords = {Bayes theory, estimation} } The system of updating the Posterior density is implemented in this class.

Definition at line 49 of file histogramfilter.h.

Constructor & Destructor Documentation

template<typename MeasVar >

BFL::HistogramFilter< MeasVar >::HistogramFilter ( DiscretePdf * prior )

Constructor.

Precondition:: you created the prior

Parameters:

prior pointer to the Discrete Pdf prior density

Definition at line 24 of file histogramfilter.cpp.

template<typename MeasVar >

BFL::HistogramFilter< MeasVar >::~HistogramFilter ( ) [virtual]

Destructor.

Definition at line 35 of file histogramfilter.cpp.

Member Function Documentation

template<typename MeasVar >

void BFL::HistogramFilter< MeasVar >::MeasUpdate	(	MeasurementModel< MeasVar, int > *const	measmodel,
		const MeasVar &	z,
		const int &	s
	)		`[protected]`

Measurement Update.

Update the filter's Posterior density using the sensor measurements, an input and the measurement model.

Parameters:

measmodel	pointer to the measurement model the filter should use
z	sensor measurement
s	input to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf

Definition at line 72 of file histogramfilter.cpp.

template<typename MeasVar >

DiscretePdf * BFL::HistogramFilter< MeasVar >::PostGet ( ) [virtual]

Get Posterior density.

Get the current Posterior density

Returns:: a pointer to the current posterior

Reimplemented from BFL::Filter< int, MeasVar >.

Definition at line 99 of file histogramfilter.cpp.

template<typename MeasVar >

void BFL::HistogramFilter< MeasVar >::SysUpdate	(	SystemModel< int > *const	sysmodel,
		const int &	u
	)		`[protected]`

Calculate Discrete filter System Update

Parameters:

sysmodel	pointer to the system model the filter should use
u	input to the system

Definition at line 42 of file histogramfilter.cpp.

template<typename MeasVar >

bool BFL::HistogramFilter< MeasVar >::UpdateInternal	(	SystemModel< int > *const	sysmodel,
		const int &	u,
		MeasurementModel< MeasVar, int > *const	measmodel,
		const MeasVar &	z,
		const int &	s
	)		`[protected, virtual]`

Actual implementation of Update, varies along filters.

Parameters:

sysmodel	pointer to the used system model
u	input param for proposal density
measmodel	pointer to the used measurementmodel
z	measurement param for proposal density
s	sensor param for proposal density

Implements BFL::Filter< int, MeasVar >.

Definition at line 87 of file histogramfilter.cpp.

Member Data Documentation

template<typename MeasVar>

vector<Probability > BFL::HistogramFilter< MeasVar >::_new_prob [protected]

While updating store list of new probabilities.

Definition at line 68 of file histogramfilter.h.

template<typename MeasVar>

vector<Probability > BFL::HistogramFilter< MeasVar >::_old_prob [protected]

While updating store list of old probabilities.

Definition at line 66 of file histogramfilter.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename MeasVar> class BFL::HistogramFilter< MeasVar >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename MeasVar>
class BFL::HistogramFilter< MeasVar >