rtabmap::BayesFilter Class Reference

#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

BayesFilter()

rtabmap::BayesFilter::BayesFilter

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 43 of file BayesFilter.cpp.

~BayesFilter()

rtabmap::BayesFilter::~BayesFilter ( )

virtual

Definition at line 53 of file BayesFilter.cpp.

Member Function Documentation

computePosterior()

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.

generatePrediction()

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

Definition at line 273 of file BayesFilter.cpp.

getMemoryUsed()

unsigned long rtabmap::BayesFilter::getMemoryUsed

(

)

const

Definition at line 420 of file BayesFilter.cpp.

getPosterior()

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

inline

Definition at line 57 of file BayesFilter.h.

getPredictionLC()

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

(

)

const

Definition at line 118 of file BayesFilter.cpp.

getPredictionLCStr()

std::string rtabmap::BayesFilter::getPredictionLCStr

(

)

const

Definition at line 124 of file BayesFilter.cpp.

getVirtualPlacePrior()

float rtabmap::BayesFilter::getVirtualPlacePrior ( ) const

inline

Definition at line 58 of file BayesFilter.h.

normalize()

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

private

Definition at line 434 of file BayesFilter.cpp.

parseParameters()

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

virtual

Definition at line 56 of file BayesFilter.cpp.

reset()

void rtabmap::BayesFilter::reset

(

)

Definition at line 138 of file BayesFilter.cpp.

setPredictionLC()

void rtabmap::BayesFilter::setPredictionLC

(

const std::string &

prediction

)

Definition at line 70 of file BayesFilter.cpp.

updatePosterior()

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

private

Definition at line 712 of file BayesFilter.cpp.

updatePrediction()

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

_fullPredictionUpdate

bool rtabmap::BayesFilter::_fullPredictionUpdate

private

Definition at line 79 of file BayesFilter.h.

_neighborsIndex

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

private

Definition at line 82 of file BayesFilter.h.

_posterior

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

private

Definition at line 75 of file BayesFilter.h.

_prediction

cv::Mat rtabmap::BayesFilter::_prediction

private

Definition at line 76 of file BayesFilter.h.

_predictionEpsilon

float rtabmap::BayesFilter::_predictionEpsilon

private

Definition at line 81 of file BayesFilter.h.

_predictionLC

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

private

Definition at line 78 of file BayesFilter.h.

_totalPredictionLCValues

float rtabmap::BayesFilter::_totalPredictionLCValues

private

Definition at line 80 of file BayesFilter.h.

_virtualPlacePrior

float rtabmap::BayesFilter::_virtualPlacePrior

private

Definition at line 77 of file BayesFilter.h.

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

• BayesFilter.h
• BayesFilter.cpp