#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <time.h>
#include "amcl/pf/pf.h"
#include "amcl/pf/pf_pdf.h"
#include "amcl/pf/pf_kdtree.h"
#include <float.h>

Include dependency graph for pf.c:

Functions
void	copy_set (pf_sample_set_t set_a, pf_sample_set_t set_b)

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_cluster_stats (pf_t pf, pf_sample_set_t set)

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 clabel, 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_converged (pf_t *pf)

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

static int	pf_resample_limit (pf_t *pf, int k)

void	pf_set_selective_resampling (pf_t *pf, int selective_resampling)

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

int	pf_update_converged (pf_t *pf)

void	pf_update_resample (pf_t *pf)

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

Function Documentation

void copy_set	(	pf_sample_set_t *	set_a,
		pf_sample_set_t *	set_b
	)

Definition at line 320 of file pf.c.

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 45 of file pf.c.

void pf_cluster_stats	(	pf_t *	pf,
		pf_sample_set_t *	set
	)

Definition at line 558 of file pf.c.

void pf_free ( pf_t * pf )

Definition at line 117 of file pf.c.

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

Definition at line 694 of file pf.c.

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

Definition at line 730 of file pf.c.

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

Definition at line 135 of file pf.c.

void pf_init_converged ( pf_t * pf )

Definition at line 212 of file pf.c.

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

Definition at line 177 of file pf.c.

int pf_resample_limit	(	pf_t *	pf,
		int	k
	)

static

Definition at line 514 of file pf.c.

void pf_set_selective_resampling	(	pf_t *	pf,
		int	selective_resampling
	)

Definition at line 688 of file pf.c.

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

Definition at line 253 of file pf.c.

int pf_update_converged ( pf_t * pf )

Definition at line 219 of file pf.c.

void pf_update_resample ( pf_t * pf )

Definition at line 362 of file pf.c.

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

Definition at line 267 of file pf.c.

Functions

Function Documentation