#include <BayesFilter.h>

Public Member Functions
	BayesFilter (const ParametersMap &parameters=ParametersMap())

const std::map< int, float > &	computePosterior (const Memory *memory, const std::map< int, float > &likelihood)

cv::Mat	generatePrediction (const Memory *memory, const std::vector< int > &ids)

unsigned long	getMemoryUsed () const

const std::map< int, float > &	getPosterior () const

const std::vector< double > &	getPredictionLC () const

std::string	getPredictionLCStr () const

float	getVirtualPlacePrior () const

virtual void	parseParameters (const ParametersMap &parameters)

void	reset ()

void	setPredictionLC (const std::string &prediction)

virtual	~BayesFilter ()

Private Member Functions
void	normalize (cv::Mat &prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const

void	updatePosterior (const Memory *memory, const std::vector< int > &likelihoodIds)

cv::Mat	updatePrediction (const cv::Mat &oldPrediction, const Memory *memory, const std::vector< int > &oldIds, const std::vector< int > &newIds)

Private Attributes
bool	_fullPredictionUpdate

std::map< int, std::map< int, int > >	_neighborsIndex

std::map< int, float >	_posterior

cv::Mat	_prediction

float	_predictionEpsilon

std::vector< double >	_predictionLC

float	_totalPredictionLCValues

float	_virtualPlacePrior

Detailed Description

Definition at line 44 of file BayesFilter.h.

Constructor & Destructor Documentation

rtabmap::BayesFilter::BayesFilter ( const ParametersMap & parameters = ParametersMap() )

Definition at line 43 of file BayesFilter.cpp.

rtabmap::BayesFilter::~BayesFilter ( )

virtual

Definition at line 53 of file BayesFilter.cpp.

Member Function Documentation

const std::map< int, float > & rtabmap::BayesFilter::computePosterior	(	const Memory *	memory,
		const std::map< int, float > &	likelihood
	)

Definition at line 145 of file BayesFilter.cpp.

cv::Mat rtabmap::BayesFilter::generatePrediction	(	const Memory *	memory,
		const std::vector< int > &	ids
	)

Definition at line 273 of file BayesFilter.cpp.

unsigned long rtabmap::BayesFilter::getMemoryUsed ( ) const

Definition at line 420 of file BayesFilter.cpp.

const std::map<int, float>& rtabmap::BayesFilter::getPosterior ( ) const

inline

Definition at line 57 of file BayesFilter.h.

const std::vector< double > & rtabmap::BayesFilter::getPredictionLC ( ) const

Definition at line 118 of file BayesFilter.cpp.

std::string rtabmap::BayesFilter::getPredictionLCStr ( ) const

Definition at line 124 of file BayesFilter.cpp.

float rtabmap::BayesFilter::getVirtualPlacePrior ( ) const

inline

Definition at line 58 of file BayesFilter.h.

void rtabmap::BayesFilter::normalize	(	cv::Mat &	prediction,
		unsigned int	index,
		float	addedProbabilitiesSum,
		bool	virtualPlaceUsed
	)		const

private

Definition at line 434 of file BayesFilter.cpp.

void rtabmap::BayesFilter::parseParameters ( const ParametersMap & parameters )

virtual

Definition at line 56 of file BayesFilter.cpp.

void rtabmap::BayesFilter::reset ( )

Definition at line 138 of file BayesFilter.cpp.

void rtabmap::BayesFilter::setPredictionLC ( const std::string & prediction )

Definition at line 70 of file BayesFilter.cpp.

void rtabmap::BayesFilter::updatePosterior	(	const Memory *	memory,
		const std::vector< int > &	likelihoodIds
	)

private

Definition at line 712 of file BayesFilter.cpp.

cv::Mat rtabmap::BayesFilter::updatePrediction	(	const cv::Mat &	oldPrediction,
		const Memory *	memory,
		const std::vector< int > &	oldIds,
		const std::vector< int > &	newIds
	)

private

Definition at line 501 of file BayesFilter.cpp.

Member Data Documentation

bool rtabmap::BayesFilter::_fullPredictionUpdate

private

Definition at line 79 of file BayesFilter.h.

std::map<int, std::map<int, int> > rtabmap::BayesFilter::_neighborsIndex

private

Definition at line 82 of file BayesFilter.h.

std::map<int, float> rtabmap::BayesFilter::_posterior

private

Definition at line 75 of file BayesFilter.h.

cv::Mat rtabmap::BayesFilter::_prediction

private

Definition at line 76 of file BayesFilter.h.

float rtabmap::BayesFilter::_predictionEpsilon

private

Definition at line 81 of file BayesFilter.h.

std::vector<double> rtabmap::BayesFilter::_predictionLC

private

Definition at line 78 of file BayesFilter.h.

float rtabmap::BayesFilter::_totalPredictionLCValues

private

Definition at line 80 of file BayesFilter.h.

float rtabmap::BayesFilter::_virtualPlacePrior

private

Definition at line 77 of file BayesFilter.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation