ergodic_exploration::Target Class Reference

Target distribution. More...

#include <target.hpp>

Public Member Functions
void	addGaussian (const Gaussian &g)
	Adds gaussian to list. More...
void	deleteGaussian (unsigned int idx)
	Remove gaussian from list. More...
double	evaluate (const vec &pt, const vec &trans) const
	Evaluate the list of gaussians. More...
vec	fill (const vec &trans, const mat &phi_grid) const
	Evaluate the target distribution. More...
visualization_msgs::MarkerArray	markers (const std::string &frame) const
	Visualize target distribution. More...
	Target ()
	Constructor. More...
	Target (const GaussianList &gaussians)
	Constructor. More...

Private Attributes
GaussianList	gaussians_

Detailed Description

Target distribution.

Definition at line 110 of file target.hpp.

Constructor & Destructor Documentation

Target() [1/2]

ergodic_exploration::Target::Target

(

)

Constructor.

Definition at line 50 of file target.cpp.

Target() [2/2]

ergodic_exploration::Target::Target

(

const GaussianList &

gaussians

)

Constructor.

Parameters

gaussians

- list of target gaussians

Definition at line 54 of file target.cpp.

Member Function Documentation

addGaussian()

void ergodic_exploration::Target::addGaussian

(

const Gaussian &

g

)

Adds gaussian to list.

Parameters

g	- gaussians

Definition at line 58 of file target.cpp.

deleteGaussian()

void ergodic_exploration::Target::deleteGaussian

(

unsigned int

idx

)

Remove gaussian from list.

Parameters

idx	- index of gaussian to remove

Definition at line 63 of file target.cpp.

evaluate()

double ergodic_exploration::Target::evaluate	(	const vec &	pt,
		const vec &	trans
	)		const

Evaluate the list of gaussians.

Parameters

pt	- point [x y]
trans	- translation from map frame to fourier domain

Returns

value of the list of gaussians evaluated at pt translated by trans

the translation is used to translate the mean into the fourier domain

Definition at line 68 of file target.cpp.

fill()

vec ergodic_exploration::Target::fill	(	const vec &	trans,
		const mat &	phi_grid
	)		const

Evaluate the target distribution.

Parameters

trans	- translation from map frame to fourier domain
phi_grid	- discretization of fourier domain

Returns

target evaluated at each grid cell in phi_grid

the translation is used to translate the mean into the fourier domain

Definition at line 78 of file target.cpp.

markers()

visualization_msgs::MarkerArray ergodic_exploration::Target::markers

(

const std::string &

frame

)

const

Visualize target distribution.

Parameters

frame

- target frame

Returns

target is visualized as an ellipse

Definition at line 91 of file target.cpp.

Member Data Documentation

gaussians_

GaussianList ergodic_exploration::Target::gaussians_

private

Definition at line 160 of file target.hpp.

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

• target.hpp
• target.cpp