Public Types | Public Member Functions | Protected Attributes | Private Member Functions
PFLocalizationCore Class Reference

#include <mrpt_localization_core.h>

Inheritance diagram for PFLocalizationCore:
Inheritance graph
[legend]

List of all members.

Public Types

enum  PFStates { NA, INIT, RUN, IDLE }

Public Member Functions

void init ()
void observation (CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)
 PFLocalizationCore ()
 ~PFLocalizationCore ()

Protected Attributes

float init_PDF_max_x
float init_PDF_max_y
float init_PDF_min_x
 any cell
float init_PDF_min_y
bool init_PDF_mode
int initial_particle_count_
 number of particles for initialization
mrpt::poses::CPosePDFGaussian initial_pose_
 initial posed used in initializeFilter()
CMultiMetricMap metric_map_
 map
CActionRobotMovement2D::TMotionModelOptions motion_model_default_options_
 used if there are is not odom
CActionRobotMovement2D::TMotionModelOptions motion_model_options_
 used with odom value motion noise
mrpt::poses::CPose2D odom_last_observation_
 correct time
mrpt::slam::CMonteCarloLocalization2D pdf_
 the filter
mrpt::bayes::CParticleFilter pf_
 common interface for particle filters
mrpt::bayes::CParticleFilter::TParticleFilterStats pf_stats_
 filter statistics
PFStates state_
 updates
mrpt::utils::CTicTac tictac_
 timer to measure performance
mrpt::system::TTimeStamp time_last_update_
 time of the last update
size_t update_counter_
bool use_motion_model_default_options_
 used default odom_params

Private Member Functions

void initializeFilter ()
void updateFilter (CActionCollection::Ptr _action, CSensoryFrame::Ptr _sf)

Detailed Description

Definition at line 56 of file mrpt_localization_core.h.


Member Enumeration Documentation

Enumerator:
NA 
INIT 
RUN 
IDLE 

Definition at line 61 of file mrpt_localization_core.h.


Constructor & Destructor Documentation

Definition at line 45 of file mrpt_localization_core.cpp.

Definition at line 44 of file mrpt_localization_core.cpp.


Member Function Documentation

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

Reimplemented in PFLocalizationNode, and PFLocalization.

Definition at line 46 of file mrpt_localization_core.cpp.

Initializes the filter at pose PFLocalizationCore::initial_pose_ with PFLocalizationCore::initial_particle_count_ it is called by the PFLocalizationCore::updateFilter if the state_ == INIT

Definition at line 60 of file mrpt_localization_core.cpp.

void PFLocalizationCore::observation ( CSensoryFrame::Ptr  _sf,
CObservationOdometry::Ptr  _odometry 
)

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

Parameters:
_sfsensor observation
_odometrythe odom data can also be NULL

Definition at line 99 of file mrpt_localization_core.cpp.

void PFLocalizationCore::updateFilter ( CActionCollection::Ptr  _action,
CSensoryFrame::Ptr  _sf 
) [private]

Definition at line 89 of file mrpt_localization_core.cpp.


Member Data Documentation

Definition at line 114 of file mrpt_localization_core.h.

Definition at line 116 of file mrpt_localization_core.h.

any cell

Initial PDF boundaries

Definition at line 113 of file mrpt_localization_core.h.

Definition at line 115 of file mrpt_localization_core.h.

Initial PDF mode: 0 for free space cells, 1 for

Definition at line 111 of file mrpt_localization_core.h.

number of particles for initialization

Definition at line 102 of file mrpt_localization_core.h.

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

initial posed used in initializeFilter()

Definition at line 101 of file mrpt_localization_core.h.

CMultiMetricMap PFLocalizationCore::metric_map_ [protected]

map

Definition at line 94 of file mrpt_localization_core.h.

CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::motion_model_default_options_ [protected]

used if there are is not odom

Definition at line 91 of file mrpt_localization_core.h.

CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::motion_model_options_ [protected]

used with odom value motion noise

Definition at line 93 of file mrpt_localization_core.h.

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

correct time

pose at the last observation

Definition at line 110 of file mrpt_localization_core.h.

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

the filter

Definition at line 99 of file mrpt_localization_core.h.

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

common interface for particle filters

Definition at line 96 of file mrpt_localization_core.h.

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

filter statistics

Definition at line 98 of file mrpt_localization_core.h.

updates

filter states to perform things like init on the

Definition at line 107 of file mrpt_localization_core.h.

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

timer to measure performance

Definition at line 104 of file mrpt_localization_core.h.

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

time of the last update

Definition at line 103 of file mrpt_localization_core.h.

internal counter to count the number of filter

Definition at line 105 of file mrpt_localization_core.h.

used default odom_params

Definition at line 89 of file mrpt_localization_core.h.


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


mrpt_localization
Author(s): Markus Bader, Raphael Zack
autogenerated on Mon Sep 18 2017 03:12:10