Public Member Functions | Private Member Functions | Private Attributes
rtabmap::BayesFilter Class Reference

#include <BayesFilter.h>

List of all members.

Public Member Functions

 BayesFilter (const ParametersMap &parameters=ParametersMap())
const std::map< int, float > & computePosterior (const Memory *memory, const std::map< int, float > &likelihood)
cv::Mat generatePrediction (const Memory *memory, const std::vector< int > &ids) const
const std::map< int, float > & getPosterior () const
const std::vector< double > & getPredictionLC () const
std::string getPredictionLCStr () const
float getVirtualPlacePrior () const
virtual void parseParameters (const ParametersMap &parameters)
void reset ()
void setPredictionLC (const std::string &prediction)
virtual ~BayesFilter ()

Private Member Functions

float addNeighborProb (cv::Mat &prediction, unsigned int col, const std::map< int, int > &neighbors, const std::map< int, int > &idToIndexMap) const
void normalize (cv::Mat &prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const
void updatePosterior (const Memory *memory, const std::vector< int > &likelihoodIds)
cv::Mat updatePrediction (const cv::Mat &oldPrediction, const Memory *memory, const std::vector< int > &oldIds, const std::vector< int > &newIds) const

Private Attributes

bool _fullPredictionUpdate
std::map< int, float > _posterior
cv::Mat _prediction
std::vector< double > _predictionLC
float _totalPredictionLCValues
float _virtualPlacePrior

Detailed Description

Definition at line 44 of file BayesFilter.h.


Constructor & Destructor Documentation

Definition at line 38 of file BayesFilter.cpp.

Definition at line 47 of file BayesFilter.cpp.


Member Function Documentation

float rtabmap::BayesFilter::addNeighborProb ( cv::Mat &  prediction,
unsigned int  col,
const std::map< int, int > &  neighbors,
const std::map< int, int > &  idToIndexMap 
) const [private]

Definition at line 578 of file BayesFilter.cpp.

const std::map< int, float > & rtabmap::BayesFilter::computePosterior ( const Memory memory,
const std::map< int, float > &  likelihood 
)

Definition at line 130 of file BayesFilter.cpp.

cv::Mat rtabmap::BayesFilter::generatePrediction ( const Memory memory,
const std::vector< int > &  ids 
) const

Definition at line 222 of file BayesFilter.cpp.

const std::map<int, float>& rtabmap::BayesFilter::getPosterior ( ) const [inline]

Definition at line 57 of file BayesFilter.h.

const std::vector< double > & rtabmap::BayesFilter::getPredictionLC ( ) const

Definition at line 104 of file BayesFilter.cpp.

Definition at line 110 of file BayesFilter.cpp.

Definition at line 58 of file BayesFilter.h.

void rtabmap::BayesFilter::normalize ( cv::Mat &  prediction,
unsigned int  index,
float  addedProbabilitiesSum,
bool  virtualPlaceUsed 
) const [private]

Definition at line 342 of file BayesFilter.cpp.

void rtabmap::BayesFilter::parseParameters ( const ParametersMap parameters) [virtual]

Definition at line 50 of file BayesFilter.cpp.

Definition at line 124 of file BayesFilter.cpp.

void rtabmap::BayesFilter::setPredictionLC ( const std::string &  prediction)

Definition at line 64 of file BayesFilter.cpp.

void rtabmap::BayesFilter::updatePosterior ( const Memory memory,
const std::vector< int > &  likelihoodIds 
) [private]

Definition at line 552 of file BayesFilter.cpp.

cv::Mat rtabmap::BayesFilter::updatePrediction ( const cv::Mat &  oldPrediction,
const Memory memory,
const std::vector< int > &  oldIds,
const std::vector< int > &  newIds 
) const [private]

Definition at line 405 of file BayesFilter.cpp.


Member Data Documentation

Definition at line 81 of file BayesFilter.h.

std::map<int, float> rtabmap::BayesFilter::_posterior [private]

Definition at line 77 of file BayesFilter.h.

Definition at line 78 of file BayesFilter.h.

std::vector<double> rtabmap::BayesFilter::_predictionLC [private]

Definition at line 80 of file BayesFilter.h.

Definition at line 82 of file BayesFilter.h.

Definition at line 79 of file BayesFilter.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Fri Aug 28 2015 12:51:43