Class representing the histogram filter. More...
#include <histogramfilter.h>
Public Member Functions | |
HistogramFilter (DiscretePdf *prior) | |
Constructor. | |
virtual DiscretePdf * | PostGet () |
Get Posterior density. | |
virtual | ~HistogramFilter () |
Destructor. | |
Protected Member Functions | |
void | MeasUpdate (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Measurement Update. | |
void | SysUpdate (SystemModel< int > *const sysmodel, const int &u) |
bool | UpdateInternal (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Actual implementation of Update, varies along filters. | |
Protected Attributes | |
vector< Probability > | _new_prob |
While updating store list of new probabilities. | |
vector< Probability > | _old_prob |
While updating store list of old probabilities. |
Class representing the histogram filter.
This is a class representing the histogram filter. A histogram filter is the basic discrete state filter for histogram representations of the state. The implementation is based upon Probabilistic Robotics book of Thrun, Burgard, Fox
{ ThrunBurgardFox2005, author = {Thrun, S. and Burgard, W. and Fox, D.}, title = {Probabilistic Robotics}, publisher = {MIT Press}, year = {2005}, issn_isbn = {0-262-20162-3}, annote = {{http://www.probabilistic-robotics.org}}, keywords = {Bayes theory, estimation} } The system of updating the Posterior density is implemented in this class.
Definition at line 49 of file histogramfilter.h.
BFL::HistogramFilter< MeasVar >::HistogramFilter | ( | DiscretePdf * | prior | ) |
Constructor.
prior | pointer to the Discrete Pdf prior density |
Definition at line 24 of file histogramfilter.cpp.
BFL::HistogramFilter< MeasVar >::~HistogramFilter | ( | ) | [virtual] |
Destructor.
Definition at line 35 of file histogramfilter.cpp.
void BFL::HistogramFilter< MeasVar >::MeasUpdate | ( | MeasurementModel< MeasVar, int > *const | measmodel, |
const MeasVar & | z, | ||
const int & | s | ||
) | [protected] |
Measurement Update.
Update the filter's Posterior density using the sensor measurements, an input and the measurement model.
measmodel | pointer to the measurement model the filter should use |
z | sensor measurement |
s | input to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf |
Definition at line 72 of file histogramfilter.cpp.
DiscretePdf * BFL::HistogramFilter< MeasVar >::PostGet | ( | ) | [virtual] |
Get Posterior density.
Get the current Posterior density
Reimplemented from BFL::Filter< int, MeasVar >.
Definition at line 99 of file histogramfilter.cpp.
void BFL::HistogramFilter< MeasVar >::SysUpdate | ( | SystemModel< int > *const | sysmodel, |
const int & | u | ||
) | [protected] |
Calculate Discrete filter System Update
sysmodel | pointer to the system model the filter should use |
u | input to the system |
Definition at line 42 of file histogramfilter.cpp.
bool BFL::HistogramFilter< MeasVar >::UpdateInternal | ( | SystemModel< int > *const | sysmodel, |
const int & | u, | ||
MeasurementModel< MeasVar, int > *const | measmodel, | ||
const MeasVar & | z, | ||
const int & | s | ||
) | [protected, virtual] |
Actual implementation of Update, varies along filters.
sysmodel | pointer to the used system model |
u | input param for proposal density |
measmodel | pointer to the used measurementmodel |
z | measurement param for proposal density |
s | sensor param for proposal density |
Implements BFL::Filter< int, MeasVar >.
Definition at line 87 of file histogramfilter.cpp.
vector<Probability > BFL::HistogramFilter< MeasVar >::_new_prob [protected] |
While updating store list of new probabilities.
Definition at line 68 of file histogramfilter.h.
vector<Probability > BFL::HistogramFilter< MeasVar >::_old_prob [protected] |
While updating store list of old probabilities.
Definition at line 66 of file histogramfilter.h.