humanoid_localization::ObservationModel Class Reference

#include <ObservationModel.h>

Inheritance diagram for humanoid_localization::ObservationModel:

Public Member Functions
virtual void	integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)=0
virtual void	integratePoseMeasurement (Particles &particles, double roll, double pitch, const tf::StampedTransform &footprintToTorso)
	ObservationModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual void	setMap (boost::shared_ptr< octomap::OcTree > map)
virtual	~ObservationModel ()

Static Public Member Functions
static double	logLikelihood (double x, double sigma)
	Helper function to compute the log likelihood. More...
static double	logLikelihoodSq (double x_sq, double sigma)
	Helper function to compute the log likelihood based on sqared distances. More...

Protected Member Functions
virtual bool	getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const =0

Protected Attributes
boost::shared_ptr< octomap::OcTree >	m_map
boost::shared_ptr< MapModel >	m_mapModel
ros::Publisher	m_pc_pub
EngineT	m_rngEngine
NormalGeneratorT	m_rngNormal
UniformGeneratorT	m_rngUniform
double	m_sigmaPitch
double	m_sigmaRoll
double	m_sigmaZ
bool	m_use_squared_error
double	m_weightPitch
double	m_weightRoll
double	m_weightZ

Detailed Description

Definition at line 51 of file ObservationModel.h.

Constructor & Destructor Documentation

humanoid_localization::ObservationModel::ObservationModel	(	ros::NodeHandle *	nh,
		boost::shared_ptr< MapModel >	mapModel,
		EngineT *	rngEngine
	)

Definition at line 31 of file ObservationModel.cpp.

humanoid_localization::ObservationModel::~ObservationModel ( )

virtual

Definition at line 55 of file ObservationModel.cpp.

Member Function Documentation

virtual bool humanoid_localization::ObservationModel::getHeightError ( const Particle &  p, const tf::StampedTransform &  footprintToBase, double &  heightError  ) const

protectedpure virtual

Implemented in humanoid_localization::EndpointModel, and humanoid_localization::RaycastingModel.

virtual void humanoid_localization::ObservationModel::integrateMeasurement ( Particles &  particles, const PointCloud &  pc, const std::vector< float > &  ranges, float  max_range, const tf::Transform &  baseToSensor  )

pure virtual

Integrate a measurement in particle set, update weights accordingly Particle weights should be in log scale before, weights are added.

Implemented in humanoid_localization::EndpointModel, and humanoid_localization::RaycastingModel.

void humanoid_localization::ObservationModel::integratePoseMeasurement ( Particles &  particles, double  roll, double  pitch, const tf::StampedTransform &  footprintToTorso  )

virtual

Definition at line 58 of file ObservationModel.cpp.

static double humanoid_localization::ObservationModel::logLikelihood ( double  x, double  sigma  )

inlinestatic

Helper function to compute the log likelihood.

Definition at line 57 of file ObservationModel.h.

static double humanoid_localization::ObservationModel::logLikelihoodSq ( double  x_sq, double  sigma  )

inlinestatic

Helper function to compute the log likelihood based on sqared distances.

Definition at line 63 of file ObservationModel.h.

void humanoid_localization::ObservationModel::setMap ( boost::shared_ptr< octomap::OcTree >  map )

virtual

Reimplemented in humanoid_localization::EndpointModel.

Definition at line 81 of file ObservationModel.cpp.

Member Data Documentation

boost::shared_ptr<octomap::OcTree> humanoid_localization::ObservationModel::m_map

protected

Definition at line 88 of file ObservationModel.h.

boost::shared_ptr<MapModel> humanoid_localization::ObservationModel::m_mapModel

protected

Definition at line 84 of file ObservationModel.h.

ros::Publisher humanoid_localization::ObservationModel::m_pc_pub

protected

Definition at line 89 of file ObservationModel.h.

EngineT humanoid_localization::ObservationModel::m_rngEngine

protected

Definition at line 85 of file ObservationModel.h.

NormalGeneratorT humanoid_localization::ObservationModel::m_rngNormal

protected

Definition at line 86 of file ObservationModel.h.

UniformGeneratorT humanoid_localization::ObservationModel::m_rngUniform

protected

Definition at line 87 of file ObservationModel.h.

double humanoid_localization::ObservationModel::m_sigmaPitch

protected

Definition at line 97 of file ObservationModel.h.

double humanoid_localization::ObservationModel::m_sigmaRoll

protected

Definition at line 96 of file ObservationModel.h.

double humanoid_localization::ObservationModel::m_sigmaZ

protected

Definition at line 95 of file ObservationModel.h.

bool humanoid_localization::ObservationModel::m_use_squared_error

protected

Definition at line 99 of file ObservationModel.h.

double humanoid_localization::ObservationModel::m_weightPitch

protected

Definition at line 92 of file ObservationModel.h.

double humanoid_localization::ObservationModel::m_weightRoll

protected

Definition at line 91 of file ObservationModel.h.

double humanoid_localization::ObservationModel::m_weightZ

protected

Definition at line 93 of file ObservationModel.h.

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

• ObservationModel.h
• ObservationModel.cpp