PFLocalizationCore Class Reference

#include <mrpt_localization_core.h>

Inheritance diagram for PFLocalizationCore:

List of all members.

Public Types
enum	PFStates { NA, INIT, RUN }
Public Member Functions
void	init ()
void	observation (mrpt::slam::CSensoryFramePtr _sf, mrpt::slam::CObservationOdometryPtr _odometry)
	PFLocalizationCore ()
	~PFLocalizationCore ()
Protected Attributes
int	initialParticleCount_
	initilial posed used in initializeFilter()
mrpt::poses::CPosePDFGaussian	initialPose_
	fhe filter
mrpt::slam::CMultiMetricMap	metric_map_
	used with odom value motion noise
mrpt::slam::CActionRobotMovement2D::TMotionModelOptions	motion_model_default_options_
	used default odom_params
mrpt::slam::CActionRobotMovement2D::TMotionModelOptions	motion_model_options_
	used if there are is not odom
mrpt::poses::CPose2D	odomLastObservation_
	filter states to perform things like init on the corret time
mrpt::slam::CMonteCarloLocalization2D	pdf_
	filter statists
mrpt::bayes::CParticleFilter	pf_
	map
mrpt::bayes::CParticleFilter::TParticleFilterStats	pf_stats_
	common interface for particle filters
PFStates	state_
	internal counter to count the number of filter updates
mrpt::utils::CTicTac	tictac_
	time of the last update
mrpt::system::TTimeStamp	timeLastUpdate_
	number of particles for initilization
size_t	update_counter_
	timer to measure performance
bool	use_motion_model_default_options_
Private Member Functions
void	initializeFilter ()
	pose at the last oversvation
void	updateFilter (mrpt::slam::CActionCollectionPtr _action, mrpt::slam::CSensoryFramePtr _sf)
Private Attributes
	MRPT_VIRTUAL_LOG_MACROS

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Detailed Description

Definition at line 52 of file mrpt_localization_core.h.

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Member Enumeration Documentation

enum PFLocalizationCore::PFStates

Enumerator:

NA
INIT
RUN

Definition at line 55 of file mrpt_localization_core.h.

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Constructor & Destructor Documentation

PFLocalizationCore::PFLocalizationCore

(

)

Definition at line 45 of file mrpt_localization_core.cpp.

PFLocalizationCore::~PFLocalizationCore

(

)

Definition at line 41 of file mrpt_localization_core.cpp.

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Member Function Documentation

void PFLocalizationCore::init

(

)

initilizes the parameter with common values to acive a working filter out of the box

Reimplemented in PFLocalizationNode, and PFLocalization.

Definition at line 50 of file mrpt_localization_core.cpp.

void PFLocalizationCore::initializeFilter

(

)

[private]

pose at the last oversvation

Initilizes the filter at pose PFLocalizationCore::initialPose_ with PFLocalizationCore::initialParticleCount_ it is called by the PFLocalizationCore::updateFilter if the state_ == INIT

Definition at line 61 of file mrpt_localization_core.cpp.

void PFLocalizationCore::observation	(	mrpt::slam::CSensoryFramePtr	_sf,
		mrpt::slam::CObservationOdometryPtr	_odometry
	)

preprocesses an obseration and calles the update PFLocalizationCore::updateFilter If the odom data is null the function will assume a dummy odometry distribution around the last pose

Parameters:

_sf	sonsor observation
_odometry	the odom data can also be NULL

Definition at line 85 of file mrpt_localization_core.cpp.

void PFLocalizationCore::updateFilter	(	mrpt::slam::CActionCollectionPtr	_action,
		mrpt::slam::CSensoryFramePtr	_sf
	)		[private]

Definition at line 77 of file mrpt_localization_core.cpp.

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Member Data Documentation

int PFLocalizationCore::initialParticleCount_ [protected]

initilial posed used in initializeFilter()

Definition at line 79 of file mrpt_localization_core.h.

mrpt::poses::CPosePDFGaussian PFLocalizationCore::initialPose_ [protected]

fhe filter

Definition at line 78 of file mrpt_localization_core.h.

mrpt::slam::CMultiMetricMap PFLocalizationCore::metric_map_ [protected]

used with odom value motion noise

Definition at line 74 of file mrpt_localization_core.h.

mrpt::slam::CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::motion_model_default_options_ [protected]

used default odom_params

Definition at line 72 of file mrpt_localization_core.h.

mrpt::slam::CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::motion_model_options_ [protected]

used if there are is not odom

Definition at line 73 of file mrpt_localization_core.h.

PFLocalizationCore::MRPT_VIRTUAL_LOG_MACROS [private]

Definition at line 53 of file mrpt_localization_core.h.

mrpt::poses::CPose2D PFLocalizationCore::odomLastObservation_ [protected]

filter states to perform things like init on the corret time

Definition at line 84 of file mrpt_localization_core.h.

mrpt::slam::CMonteCarloLocalization2D PFLocalizationCore::pdf_ [protected]

filter statists

Definition at line 77 of file mrpt_localization_core.h.

mrpt::bayes::CParticleFilter PFLocalizationCore::pf_ [protected]

map

Definition at line 75 of file mrpt_localization_core.h.

mrpt::bayes::CParticleFilter::TParticleFilterStats PFLocalizationCore::pf_stats_ [protected]

common interface for particle filters

Definition at line 76 of file mrpt_localization_core.h.

PFStates PFLocalizationCore::state_ [protected]

internal counter to count the number of filter updates

Definition at line 83 of file mrpt_localization_core.h.

mrpt::utils::CTicTac PFLocalizationCore::tictac_ [protected]

time of the last update

Definition at line 81 of file mrpt_localization_core.h.

mrpt::system::TTimeStamp PFLocalizationCore::timeLastUpdate_ [protected]

number of particles for initilization

Definition at line 80 of file mrpt_localization_core.h.

size_t PFLocalizationCore::update_counter_ [protected]

timer to measure performance

Definition at line 82 of file mrpt_localization_core.h.

bool PFLocalizationCore::use_motion_model_default_options_ [protected]

Definition at line 71 of file mrpt_localization_core.h.

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

• mrpt_localization_core.h
• mrpt_localization_core.cpp