pf.h File Reference

#include "nav2d_localizer/pf_vector.h"
#include "nav2d_localizer/pf_kdtree.h"

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Classes
struct	_pf_sample_set_t
struct	_pf_t
struct	pf_cluster_t
struct	pf_sample_t
Typedefs
typedef void(*	pf_action_model_fn_t )(void *action_data, struct _pf_sample_set_t *set)
typedef pf_vector_t(*	pf_init_model_fn_t )(void *init_data)
typedef struct _pf_sample_set_t	pf_sample_set_t
typedef double(*	pf_sensor_model_fn_t )(void *sensor_data, struct _pf_sample_set_t *set)
typedef struct _pf_t	pf_t
Functions
pf_t *	pf_alloc (int min_samples, int max_samples, double alpha_slow, double alpha_fast, pf_init_model_fn_t random_pose_fn, void *random_pose_data)
void	pf_draw_cep_stats (pf_t *pf, struct _rtk_fig_t *fig)
void	pf_draw_cluster_stats (pf_t *pf, struct _rtk_fig_t *fig)
void	pf_draw_hist (pf_t *pf, struct _rtk_fig_t *fig)
void	pf_draw_samples (pf_t *pf, struct _rtk_fig_t *fig, int max_samples)
void	pf_free (pf_t *pf)
void	pf_get_cep_stats (pf_t *pf, pf_vector_t *mean, double *var)
int	pf_get_cluster_stats (pf_t *pf, int cluster, double *weight, pf_vector_t *mean, pf_matrix_t *cov)
void	pf_init (pf_t *pf, pf_vector_t mean, pf_matrix_t cov)
void	pf_init_model (pf_t *pf, pf_init_model_fn_t init_fn, void *init_data)
void	pf_update_action (pf_t *pf, pf_action_model_fn_t action_fn, void *action_data)
void	pf_update_resample (pf_t *pf)
void	pf_update_sensor (pf_t *pf, pf_sensor_model_fn_t sensor_fn, void *sensor_data)

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Typedef Documentation

typedef void(* pf_action_model_fn_t)(void *action_data, struct _pf_sample_set_t *set)

Definition at line 49 of file pf.h.

typedef pf_vector_t(* pf_init_model_fn_t)(void *init_data)

Definition at line 45 of file pf.h.

typedef struct _pf_sample_set_t pf_sample_set_t

typedef double(* pf_sensor_model_fn_t)(void *sensor_data, struct _pf_sample_set_t *set)

Definition at line 54 of file pf.h.

typedef struct _pf_t pf_t

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Function Documentation

pf_t* pf_alloc	(	int	min_samples,
		int	max_samples,
		double	alpha_slow,
		double	alpha_fast,
		pf_init_model_fn_t	random_pose_fn,
		void *	random_pose_data
	)

Definition at line 47 of file pf.c.

void pf_draw_cep_stats	(	pf_t *	pf,
		struct _rtk_fig_t *	fig
	)

void pf_draw_cluster_stats	(	pf_t *	pf,
		struct _rtk_fig_t *	fig
	)

void pf_draw_hist	(	pf_t *	pf,
		struct _rtk_fig_t *	fig
	)

void pf_draw_samples	(	pf_t *	pf,
		struct _rtk_fig_t *	fig,
		int	max_samples
	)

void pf_free

(

pf_t *

pf

)

Definition at line 113 of file pf.c.

void pf_get_cep_stats	(	pf_t *	pf,
		pf_vector_t *	mean,
		double *	var
	)

Definition at line 560 of file pf.c.

int pf_get_cluster_stats	(	pf_t *	pf,
		int	cluster,
		double *	weight,
		pf_vector_t *	mean,
		pf_matrix_t *	cov
	)

Definition at line 596 of file pf.c.

void pf_init	(	pf_t *	pf,
		pf_vector_t	mean,
		pf_matrix_t	cov
	)

Definition at line 130 of file pf.c.

void pf_init_model	(	pf_t *	pf,
		pf_init_model_fn_t	init_fn,
		void *	init_data
	)

Definition at line 169 of file pf.c.

void pf_update_action	(	pf_t *	pf,
		pf_action_model_fn_t	action_fn,
		void *	action_data
	)

Definition at line 203 of file pf.c.

void pf_update_resample

(

pf_t *

pf

)

Definition at line 269 of file pf.c.

void pf_update_sensor	(	pf_t *	pf,
		pf_sensor_model_fn_t	sensor_fn,
		void *	sensor_data
	)

Definition at line 217 of file pf.c.