mhf::IStateEstimator Class Reference

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

#include <IStateEstimator.h>

Inheritance diagram for mhf::IStateEstimator:

List of all members.

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

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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.

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Constructor & Destructor Documentation

virtual mhf::IStateEstimator::~IStateEstimator

(

)

[inline, virtual]

Definition at line 65 of file IStateEstimator.h.

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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
	)		[inline, virtual]

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
	)		[inline, virtual]

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
	)		[inline, virtual]

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