Classes | |
class | PFilter |
Functions | |
def | likelihood |
def | normalize_likelihood |
def | predict |
def | resample_uss |
def | retFalse |
def | retTrue |
Functions implementing a particle filter. | |
def | set_norm_likelihood |
def | set_resample_uss |
Variables | |
dictionary | counts = {} |
tuple | new_particles = resample_uss(num_particles, normalized) |
tuple | normalized = normalize_likelihood(particles) |
int | num_particles = 1000 |
list | particles = [("4", 4), ("1",1), ("2",2), ("3", 3)] |
def pfilter.pfilter.likelihood | ( | appearance_model, | |
measurement, | |||
particle_set | |||
) |
Evaluate using appearance model
Definition at line 75 of file pfilter.py.
def pfilter.pfilter.normalize_likelihood | ( | weighted_particles | ) |
Make all the particle weights sum up to 1
Definition at line 138 of file pfilter.py.
def pfilter.pfilter.predict | ( | motion_model, | |
control_input, | |||
particle_set | |||
) |
Predict using motion model
Definition at line 63 of file pfilter.py.
def pfilter.pfilter.resample_uss | ( | num_samples, | |
particles | |||
) |
Universal stochastic sampler (low variance resampling) num_samples - number of samples desired particles - pairs of (state, weight) tuples
Definition at line 86 of file pfilter.py.
def pfilter.pfilter.retFalse | ( | args | ) |
Definition at line 29 of file pfilter.py.
def pfilter.pfilter.retTrue | ( | args | ) |
Functions implementing a particle filter.
Note: To instantiate a particle filter you will need a motion and appearance model. Below are signatures and description of the motion and appearance models: (optional) motion.make_set: (int) -> list state motion.predict: (control, state) -> state appearance.weight: (measurement, state) -> double
Where what is considered a 'state' must agree between the motion and appearance classes.
Optional: The particle filter can be sped up by defining additional functions: * weight_partial - partial application * weight_set - any other optimizations
* predict_partial - partial application
Definition at line 26 of file pfilter.py.
def pfilter.pfilter.set_norm_likelihood | ( | weighted_particles | ) |
Definition at line 150 of file pfilter.py.
def pfilter.pfilter.set_resample_uss | ( | num_samples, | |
particles | |||
) |
Universal stochastic sampler (low variance resampling) num_samples - number of samples desired particles - pairs of (state, weight) tuples
Definition at line 108 of file pfilter.py.
dictionary pfilter::pfilter::counts = {} |
Definition at line 168 of file pfilter.py.
Definition at line 165 of file pfilter.py.
Definition at line 161 of file pfilter.py.
int pfilter::pfilter::num_particles = 1000 |
Definition at line 164 of file pfilter.py.
list pfilter::pfilter::particles = [("4", 4), ("1",1), ("2",2), ("3", 3)] |
Definition at line 160 of file pfilter.py.