Public Member Functions | Protected Member Functions | Protected Attributes
BFL::EKParticleFilter Class Reference

Particle filter using EKF for proposal step. More...

#include <EKparticlefilter.h>

Inheritance diagram for BFL::EKParticleFilter:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 EKParticleFilter (MCPdf< ColumnVector > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
 Constructor.
virtual ~EKParticleFilter ()
 Destructor.

Protected Member Functions

virtual bool ProposalStepInternal (SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u, MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
virtual bool Resample ()
 Resample also redefined for the same reasons...
virtual bool UpdateInternal (SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u, MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)

Protected Attributes

std::vector< SymmetricMatrix >
::iterator 
_cov_it
std::vector< double > _CumPDF
std::vector< double >
::const_iterator 
_CumPDFit
const int _dimension
const int _num_samples
std::vector< WeightedSample
< ColumnVector > >::iterator 
_oit
std::vector< WeightedSample
< ColumnVector > > 
_old_samples
 While updating store list of old samples.
std::vector< WeightedSample
< ColumnVector > > 
_result_samples
std::vector< WeightedSample
< ColumnVector > >::iterator 
_rit
Sample< ColumnVector > _sample
 While updating use sample<StateVar>
std::vector< SymmetricMatrix > _sampleCov
 Sample Covariances for use with EKF Proposal density.
std::vector< SymmetricMatrix > _tmpCov
std::vector< SymmetricMatrix >
::iterator 
_tmpCovit
std::vector< double > _unif_samples
ColumnVector _x_old

Detailed Description

Particle filter using EKF for proposal step.

NOTE: Only applicable to continuous problems with additive gaussian noise, so the models you specify ... specify should by

Definition at line 35 of file EKparticlefilter.h.


Constructor & Destructor Documentation

BFL::EKParticleFilter::EKParticleFilter ( MCPdf< ColumnVector > *  prior,
int  resampleperiod = 0,
double  resamplethreshold = 0,
int  resamplescheme = DEFAULT_RS 
)

Constructor.

Precondition:
you created the necessary models and the prior
Parameters:
priorpointer to the Monte Carlo Pdf prior density
resampleperiodfixed resampling period (if desired)
resamplethresholdthreshold used when dynamic resampling
resampleschemeresampling scheme, see header file for different defines and their meaning
Bug:
prior should be of type pdf and not mcpdf. See also notes with implementation

Definition at line 26 of file EKparticlefilter.cpp.

Destructor.

Definition at line 50 of file EKparticlefilter.cpp.


Member Function Documentation

bool BFL::EKParticleFilter::ProposalStepInternal ( SystemModel< ColumnVector > *const  sysmodel,
const ColumnVector &  u,
MeasurementModel< ColumnVector, ColumnVector > *const  measmodel,
const ColumnVector &  z,
const ColumnVector &  s 
) [protected, virtual]

Proposalstep is redefined here since we have to take into account the sample covariances here!

Reimplemented from BFL::ParticleFilter< ColumnVector, ColumnVector >.

Definition at line 117 of file EKparticlefilter.cpp.

bool BFL::EKParticleFilter::Resample ( ) [protected, virtual]

Resample also redefined for the same reasons...

Reimplemented from BFL::ParticleFilter< ColumnVector, ColumnVector >.

Definition at line 76 of file EKparticlefilter.cpp.

bool BFL::EKParticleFilter::UpdateInternal ( SystemModel< ColumnVector > *const  sysmodel,
const ColumnVector &  u,
MeasurementModel< ColumnVector, ColumnVector > *const  measmodel,
const ColumnVector &  z,
const ColumnVector &  s 
) [protected, virtual]

Reimplemented from BFL::ParticleFilter< ColumnVector, ColumnVector >.

Definition at line 57 of file EKparticlefilter.cpp.


Member Data Documentation

std::vector<SymmetricMatrix>::iterator BFL::EKParticleFilter::_cov_it [protected]

Definition at line 41 of file EKparticlefilter.h.

std::vector<double> BFL::EKParticleFilter::_CumPDF [protected]

Definition at line 54 of file EKparticlefilter.h.

std::vector<double>::const_iterator BFL::EKParticleFilter::_CumPDFit [protected]

Definition at line 55 of file EKparticlefilter.h.

const int BFL::EKParticleFilter::_dimension [protected]

Definition at line 47 of file EKparticlefilter.h.

const int BFL::EKParticleFilter::_num_samples [protected]

Definition at line 48 of file EKparticlefilter.h.

std::vector<WeightedSample<ColumnVector> >::iterator BFL::EKParticleFilter::_oit [protected]

Definition at line 50 of file EKparticlefilter.h.

std::vector<WeightedSample<ColumnVector> > BFL::EKParticleFilter::_old_samples [protected]

While updating store list of old samples.

Reimplemented from BFL::ParticleFilter< ColumnVector, ColumnVector >.

Definition at line 49 of file EKparticlefilter.h.

std::vector<WeightedSample<ColumnVector> > BFL::EKParticleFilter::_result_samples [protected]

Definition at line 51 of file EKparticlefilter.h.

std::vector<WeightedSample<ColumnVector> >::iterator BFL::EKParticleFilter::_rit [protected]

Definition at line 52 of file EKparticlefilter.h.

Sample<ColumnVector> BFL::EKParticleFilter::_sample [protected]

While updating use sample<StateVar>

Reimplemented from BFL::ParticleFilter< ColumnVector, ColumnVector >.

Definition at line 57 of file EKparticlefilter.h.

std::vector<SymmetricMatrix> BFL::EKParticleFilter::_sampleCov [protected]

Sample Covariances for use with EKF Proposal density.

Definition at line 40 of file EKparticlefilter.h.

std::vector<SymmetricMatrix> BFL::EKParticleFilter::_tmpCov [protected]

Definition at line 43 of file EKparticlefilter.h.

std::vector<SymmetricMatrix>::iterator BFL::EKParticleFilter::_tmpCovit [protected]

Definition at line 44 of file EKparticlefilter.h.

std::vector<double> BFL::EKParticleFilter::_unif_samples [protected]

Definition at line 53 of file EKparticlefilter.h.

ColumnVector BFL::EKParticleFilter::_x_old [protected]

Definition at line 56 of file EKparticlefilter.h.


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


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:53