#include <MultiModelFilter.h>
Public Member Functions | |
void | addEstimator (mhf::IStateEstimator *estimator) |
virtual MultiModelFilter * | clone () const |
const pbl::PDF & | getValue () const |
Returns the current estimated state value. | |
MultiModelFilter () | |
MultiModelFilter (const MultiModelFilter &orig) | |
virtual void | propagate (const mhf::Time &time) |
Propagates the internal state to Time time. | |
virtual void | reset () |
Resets the internal state of the estimator to its initial value. | |
bool | setParameter (const std::string ¶m, bool b) |
Set a boolean parameter of this state estimator. | |
bool | setParameter (const std::string ¶m, double v) |
Set a real-valued parameter of this state estimator. | |
void | setValue (const pbl::PDF &pdf) |
void | update (const pbl::PDF &z, const mhf::Time &time) |
Updates the internal state based on measurement z. | |
virtual | ~MultiModelFilter () |
Protected Attributes | |
std::vector < mhf::IStateEstimator * > | estimators_ |
bool | initialized_ |
pbl::Mixture | mixture_ |
std::vector< double > | weights_ |
Definition at line 45 of file MultiModelFilter.h.
Definition at line 42 of file MultiModelFilter.cpp.
MultiModelFilter::MultiModelFilter | ( | const MultiModelFilter & | orig | ) |
Definition at line 53 of file MultiModelFilter.cpp.
MultiModelFilter::~MultiModelFilter | ( | ) | [virtual] |
Definition at line 61 of file MultiModelFilter.cpp.
void MultiModelFilter::addEstimator | ( | mhf::IStateEstimator * | estimator | ) |
Definition at line 71 of file MultiModelFilter.cpp.
MultiModelFilter * MultiModelFilter::clone | ( | ) | const [virtual] |
Implements mhf::IStateEstimator.
Definition at line 67 of file MultiModelFilter.cpp.
const pbl::PDF & MultiModelFilter::getValue | ( | ) | const [virtual] |
Returns the current estimated state value.
Implements mhf::IStateEstimator.
Definition at line 136 of file MultiModelFilter.cpp.
void MultiModelFilter::propagate | ( | const mhf::Time & | time | ) | [virtual] |
Propagates the internal state to Time time.
time | The time to which the internal state is propagated |
Implements mhf::IStateEstimator.
Definition at line 80 of file MultiModelFilter.cpp.
void MultiModelFilter::reset | ( | ) | [virtual] |
Resets the internal state of the estimator to its initial value.
Implements mhf::IStateEstimator.
Definition at line 130 of file MultiModelFilter.cpp.
bool MultiModelFilter::setParameter | ( | const std::string & | param, |
bool | b | ||
) | [virtual] |
Set a boolean parameter of this state estimator.
param | The parameter name |
b | The boolean value |
Reimplemented from mhf::IStateEstimator.
Definition at line 149 of file MultiModelFilter.cpp.
bool MultiModelFilter::setParameter | ( | const std::string & | param, |
double | v | ||
) | [virtual] |
Set a real-valued parameter of this state estimator.
param | The parameter name |
v | The float value |
Reimplemented from mhf::IStateEstimator.
Definition at line 153 of file MultiModelFilter.cpp.
void MultiModelFilter::setValue | ( | const pbl::PDF & | ) |
Definition at line 145 of file MultiModelFilter.cpp.
void MultiModelFilter::update | ( | const pbl::PDF & | z, |
const mhf::Time & | time | ||
) | [virtual] |
Updates the internal state based on measurement z.
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 |
Implements mhf::IStateEstimator.
Definition at line 93 of file MultiModelFilter.cpp.
std::vector<mhf::IStateEstimator*> MultiModelFilter::estimators_ [protected] |
Definition at line 105 of file MultiModelFilter.h.
bool MultiModelFilter::initialized_ [protected] |
Definition at line 103 of file MultiModelFilter.h.
pbl::Mixture MultiModelFilter::mixture_ [mutable, protected] |
Definition at line 109 of file MultiModelFilter.h.
std::vector<double> MultiModelFilter::weights_ [protected] |
Definition at line 107 of file MultiModelFilter.h.