Class representing the histogram filter. More...
#include <histogramfilter.h>
Public Member Functions | |
| HistogramFilter (DiscretePdf *prior) | |
| Constructor. More... | |
| virtual DiscretePdf * | PostGet () |
| Get Posterior density. More... | |
| virtual | ~HistogramFilter () |
| Destructor. More... | |
 Public Member Functions inherited from BFL::Filter< int, MeasVar > | |
| Filter (Pdf< int > *prior) | |
| Constructor. More... | |
| Filter (const Filter< int, MeasVar > &filt) | |
| copy constructor More... | |
| virtual void | Reset (Pdf< int > *prior) |
| Reset Filter. More... | |
| int | TimeStepGet () const |
| Get current time. More... | |
| virtual bool | Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
| Full Update (system with inputs/sensing params) More... | |
| virtual bool | Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
| Full Update (system without inputs, with sensing params) More... | |
| virtual bool | Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z) |
| Full Update (system without inputs/sensing params) More... | |
| virtual bool | Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z) |
| Full Update (system with inputs, without sensing params) More... | |
| virtual bool | Update (SystemModel< int > *const sysmodel, const int &u) |
| System Update (system with inputs) More... | |
| virtual bool | Update (SystemModel< int > *const sysmodel) |
| System Update (system without inputs) More... | |
| virtual bool | Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
| Measurement Update (system with "sensing params") More... | |
| virtual bool | Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z) |
| Measurement Update (system without "sensing params") More... | |
| virtual | ~Filter () |
| destructor More... | |
Protected Member Functions | |
| void | MeasUpdate (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
| Measurement Update. More... | |
| void | SysUpdate (SystemModel< int > *const sysmodel, const int &u) |
| bool | UpdateInternal (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
| Actual implementation of Update, varies along filters. More... | |
Protected Attributes | |
| vector< Probability > | _new_prob |
| While updating store list of new probabilities. More... | |
| vector< Probability > | _old_prob |
| While updating store list of old probabilities. More... | |
| Protected Attributes inherited from BFL::Filter< int, MeasVar > | |
| Pdf< int > * | _post |
| Pointer to the Posterior Pdf. More... | |
| Pdf< int > * | _prior |
| prior Pdf More... | |
| int | _timestep |
| Represents the current timestep of the filter. More... | |
Detailed Description
template<typename MeasVar>
class BFL::HistogramFilter< MeasVar >
Class representing the histogram filter.
This is a class representing the histogram filter. A histogram filter is the basic discrete state filter for histogram representations of the state. The implementation is based upon Probabilistic Robotics book of Thrun, Burgard, Fox
{ ThrunBurgardFox2005, author = {Thrun, S. and Burgard, W. and Fox, D.}, title = {Probabilistic Robotics}, publisher = {MIT Press}, year = {2005}, issn_isbn = {0-262-20162-3}, annote = {{http://www.probabilistic-robotics.org}}, keywords = {Bayes theory, estimation} } The system of updating the Posterior density is implemented in this class.
Definition at line 49 of file histogramfilter.h.
Constructor & Destructor Documentation
| BFL::HistogramFilter< MeasVar >::HistogramFilter | ( | DiscretePdf * | prior | ) |
Constructor.
- Precondition
- you created the prior
- Parameters
-
prior pointer to the Discrete Pdf prior density
Definition at line 24 of file histogramfilter.cpp.
|
virtual |
Destructor.
Definition at line 35 of file histogramfilter.cpp.
Member Function Documentation
|
protected |
Measurement Update.
Update the filter's Posterior density using the sensor measurements, an input and the measurement model.
- Parameters
-
measmodel pointer to the measurement model the filter should use z sensor measurement s input to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf
Definition at line 72 of file histogramfilter.cpp.
|
virtual |
Get Posterior density.
Get the current Posterior density
- Returns
- a pointer to the current posterior
Reimplemented from BFL::Filter< int, MeasVar >.
Definition at line 99 of file histogramfilter.cpp.
|
protected |
Calculate Discrete filter System Update
- Parameters
-
sysmodel pointer to the system model the filter should use u input to the system
Definition at line 42 of file histogramfilter.cpp.
|
protectedvirtual |
Actual implementation of Update, varies along filters.
- Parameters
-
sysmodel pointer to the used system model u input param for proposal density measmodel pointer to the used measurementmodel z measurement param for proposal density s sensor param for proposal density
Implements BFL::Filter< int, MeasVar >.
Definition at line 87 of file histogramfilter.cpp.
Member Data Documentation
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protected |
While updating store list of new probabilities.
Definition at line 68 of file histogramfilter.h.
|
protected |
While updating store list of old probabilities.
Definition at line 66 of file histogramfilter.h.
The documentation for this class was generated from the following files: