mhf::IStateEstimator Class Reference

Base class for all state estimators used by the world model. More...

#include <IStateEstimator.h>

Inheritance diagram for mhf::IStateEstimator:

Public Member Functions
virtual IStateEstimator *	clone () const =0
virtual const pbl::PDF &	getValue () const =0
	Returns the current estimated state value. More...
virtual void	propagate (const Time &time)=0
	Propagates the internal state to Time time. More...
virtual void	reset ()=0
	Resets the internal state of the estimator to its initial value. More...
virtual bool	setParameter (const std::string &param, bool b)
	Resets the internal state of the estimator to the given PDF. More...
virtual bool	setParameter (const std::string &param, double v)
	Set a real-valued parameter of this state estimator. More...
virtual bool	setParameter (const std::string &param, const std::string &s)
	Set a string parameter of this state estimator. More...
virtual void	update (const pbl::PDF &z, const Time &time)=0
	Updates the internal state based on measurement z. More...
virtual	~IStateEstimator ()

Detailed Description

Base class for all state estimators used by the world model.

Author

Sjoerd van den Dries

Date

December, 2012

A state estimator estimates the value of one specific attribute of one specific object in the world. The attribute value is represented by a probability density over the domain of the attribute. For example, a position can be represented by a PDF over Cartesian space. A state estimator should implement three methods: propagate(Time t), which changes the internal state of the estimator to the estimated value at Time t; update(PDF z, Time time) which updates the internal state based on measurement z at Time t; and getValue() which returns the current state.

Definition at line 61 of file IStateEstimator.h.

Constructor & Destructor Documentation

virtual mhf::IStateEstimator::~IStateEstimator ( )

inlinevirtual

Definition at line 65 of file IStateEstimator.h.

Member Function Documentation

virtual IStateEstimator* mhf::IStateEstimator::clone ( ) const

pure virtual

Implemented in mhf::SemanticObject, mhf::FixedState, and mhf::PropertySet.

virtual const pbl::PDF& mhf::IStateEstimator::getValue ( ) const

pure virtual

Returns the current estimated state value.

Returns

The current state, i.e., the current attribute value represented as probability density function

Implemented in mhf::FixedState, and mhf::PropertySet.

virtual void mhf::IStateEstimator::propagate ( const Time &  time )

pure virtual

Propagates the internal state to Time time.

Parameters

time	The time to which the internal state is propagated

Implemented in mhf::FixedState, and mhf::PropertySet.

virtual void mhf::IStateEstimator::reset ( )

pure virtual

Resets the internal state of the estimator to its initial value.

Implemented in mhf::FixedState, and mhf::PropertySet.

virtual bool mhf::IStateEstimator::setParameter ( const std::string &  param, bool  b  )

inlinevirtual

Resets the internal state of the estimator to the given PDF.

Parameters

pdf	The value to which the internal state is set Set a boolean parameter of this state estimator
param	The parameter name
b	The boolean value

Returns

Returns true if the parameter was known to the estimator; false otherwise

Definition at line 106 of file IStateEstimator.h.

virtual bool mhf::IStateEstimator::setParameter ( const std::string &  param, double  v  )

inlinevirtual

Set a real-valued parameter of this state estimator.

Parameters

param	The parameter name
v	The float value

Returns

Returns true if the parameter was known to the estimator; false otherwise

Definition at line 116 of file IStateEstimator.h.

virtual bool mhf::IStateEstimator::setParameter ( const std::string &  param, const std::string &  s  )

inlinevirtual

Set a string parameter of this state estimator.

Parameters

param	The parameter name
s	The string value

Returns

Returns true if the parameter was known to the estimator; false otherwise

Definition at line 126 of file IStateEstimator.h.

virtual void mhf::IStateEstimator::update ( const pbl::PDF &  z, const Time &  time  )

pure virtual

Updates the internal state based on measurement z.

Parameters

z	The measurement with which to update, represented as a probability density function
time	The time to which the internal state is propagated before updating

Implemented in mhf::PropertySet, and mhf::FixedState.

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

• IStateEstimator.h