mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN > Class Template Reference

#include <pf.h>

List of all members.

Public Member Functions
std::vector< Particle< T, FLT_TYPE > >::iterator	appendParticle (const size_t num)
std::vector< Particle< T, FLT_TYPE > >::iterator	begin ()
void	bias (std::function< void(const T &, float &p_bias)> prob)
std::vector< T >	covariance (const FLT_TYPE pass_ratio=1.0)
std::vector< Particle< T, FLT_TYPE > >::iterator	end ()
T	expectation (const FLT_TYPE pass_ratio=1.0)
T	expectationBiased ()
T	getParticle (const size_t i) const
size_t	getParticleSize () const
void	init (T mean, T sigma)
T	max ()
T	maxBiased ()
void	measure (std::function< FLT_TYPE(const T &)> likelihood)
void	noise (T sigma)
	ParticleFilter (const int nParticles)
void	predict (std::function< void(T &)> model)
void	resample (T sigma)
void	resizeParticle (const size_t num)
Protected Attributes
std::default_random_engine	engine_
T	ie_
std::vector< Particle< T, FLT_TYPE > >	particles_
std::vector< Particle< T, FLT_TYPE > >	particles_dup_
std::random_device	seed_gen_

---

Detailed Description

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>
class mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >

Definition at line 155 of file pf.h.

---

Constructor & Destructor Documentation

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::ParticleFilter

(

const int

nParticles

)

[inline, explicit]

Definition at line 158 of file pf.h.

---

Member Function Documentation

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::vector<Particle<T, FLT_TYPE> >::iterator mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::appendParticle

(

const size_t

num

)

[inline]

Definition at line 395 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::vector<Particle<T, FLT_TYPE> >::iterator mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::begin

(

)

[inline]

Definition at line 401 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::bias

(

std::function< void(const T &, float &p_bias)>

prob

)

[inline]

Definition at line 225 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::vector<T> mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::covariance

(

const FLT_TYPE

pass_ratio = 1.0

)

[inline]

Definition at line 278 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::vector<Particle<T, FLT_TYPE> >::iterator mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::end

(

)

[inline]

Definition at line 405 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

T mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::expectation

(

const FLT_TYPE

pass_ratio = 1.0

)

[inline]

Definition at line 254 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

T mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::expectationBiased

(

)

[inline]

Definition at line 268 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

T mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::getParticle

(

const size_t

i

)

const [inline]

Definition at line 349 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

size_t mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::getParticleSize

(

)

const [inline]

Definition at line 353 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::init	(	T	mean,
		T	sigma
	)		[inline]

Definition at line 163 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

T mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::max

(

)

[inline]

Definition at line 319 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

T mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::maxBiased

(

)

[inline]

Definition at line 333 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::measure

(

std::function< FLT_TYPE(const T &)>

likelihood

)

[inline]

Definition at line 232 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::noise

(

T

sigma

)

[inline]

Definition at line 211 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::predict

(

std::function< void(T &)>

model

)

[inline]

Definition at line 218 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::resample

(

T

sigma

)

[inline]

Definition at line 171 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

void mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::resizeParticle

(

const size_t

num

)

[inline]

Definition at line 357 of file pf.h.

---

Member Data Documentation

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::default_random_engine mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::engine_ [protected]

Definition at line 414 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

T mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::ie_ [protected]

Definition at line 415 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::vector<Particle<T, FLT_TYPE> > mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::particles_ [protected]

Definition at line 411 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::vector<Particle<T, FLT_TYPE> > mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::particles_dup_ [protected]

Definition at line 412 of file pf.h.

template<typename T, typename FLT_TYPE = float, typename MEAN = ParticleWeightedMean<T, FLT_TYPE>>

std::random_device mcl_3dl::pf::ParticleFilter< T, FLT_TYPE, MEAN >::seed_gen_ [protected]

Definition at line 413 of file pf.h.

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

• pf.h