#include <detector_particle.h>

Public Member Functions
	DetectorParticle (unsigned int num_particles)
	constructor More...

void	getEstimate (tf::Vector3 &est) const
	get filter posterior More...

void	getEstimate (people_msgs::PositionMeasurement &est) const

MatrixWrapper::Matrix	getHistogram (const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
	Get histogram from certain area. More...

void	getParticleCloud (const tf::Vector3 &step, double threshold, sensor_msgs::PointCloud &cloud) const

double	getQuality () const
	return measure for detector quality: 0=bad 1=good More...

void	initialize (const tf::Vector3 &mu, const tf::Vector3 &size, const double time)
	initialize detector More...

bool	isInitialized () const
	return if detector was initialized More...

bool	updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov, const double time)

bool	updatePrediction (const double dt)
	update detector More...

	~DetectorParticle ()
	destructor More...

Private Attributes
bool	detector_initialized_

BFL::BootstrapFilter< tf::Vector3, tf::Vector3 > *	filter_

double	filter_time_

BFL::MeasModelVector	meas_model_

unsigned int	num_particles_

BFL::MCPdfVector	prior_

double	quality_

BFL::SysModelVector	sys_model_

Detailed Description

Definition at line 60 of file detector_particle.h.

Constructor & Destructor Documentation

estimation::DetectorParticle::DetectorParticle ( unsigned int num_particles )

explicit

constructor

Definition at line 46 of file detector_particle.cpp.

estimation::DetectorParticle::~DetectorParticle ( )

destructor

Definition at line 56 of file detector_particle.cpp.

Member Function Documentation

void estimation::DetectorParticle::getEstimate ( tf::Vector3 & est ) const

get filter posterior

Definition at line 118 of file detector_particle.cpp.

void estimation::DetectorParticle::getEstimate ( people_msgs::PositionMeasurement & est ) const

Definition at line 123 of file detector_particle.cpp.

Matrix estimation::DetectorParticle::getHistogram	(	const tf::Vector3 &	min,
		const tf::Vector3 &	max,
		const tf::Vector3 &	step
	)		const

Get histogram from certain area.

Definition at line 136 of file detector_particle.cpp.

void estimation::DetectorParticle::getParticleCloud	(	const tf::Vector3 &	step,
		double	threshold,
		sensor_msgs::PointCloud &	cloud
	)		const

Definition at line 112 of file detector_particle.cpp.

double estimation::DetectorParticle::getQuality ( ) const

inline

return measure for detector quality: 0=bad 1=good

Definition at line 79 of file detector_particle.h.

void estimation::DetectorParticle::initialize	(	const tf::Vector3 &	mu,
		const tf::Vector3 &	size,
		const double	time
	)

initialize detector

Definition at line 62 of file detector_particle.cpp.

bool estimation::DetectorParticle::isInitialized ( ) const

inline

return if detector was initialized

Definition at line 73 of file detector_particle.h.

bool estimation::DetectorParticle::updateCorrection	(	const tf::Vector3 &	meas,
		const MatrixWrapper::SymmetricMatrix &	cov,
		const double	time
	)

Definition at line 93 of file detector_particle.cpp.

bool estimation::DetectorParticle::updatePrediction ( const double dt )

update detector

Definition at line 80 of file detector_particle.cpp.

Member Data Documentation

bool estimation::DetectorParticle::detector_initialized_

private

Definition at line 108 of file detector_particle.h.

BFL::BootstrapFilter<tf::Vector3, tf::Vector3>* estimation::DetectorParticle::filter_

private

Definition at line 103 of file detector_particle.h.

double estimation::DetectorParticle::filter_time_

private

Definition at line 109 of file detector_particle.h.

BFL::MeasModelVector estimation::DetectorParticle::meas_model_

private

Definition at line 105 of file detector_particle.h.

unsigned int estimation::DetectorParticle::num_particles_

private

Definition at line 110 of file detector_particle.h.

BFL::MCPdfVector estimation::DetectorParticle::prior_

private

Definition at line 102 of file detector_particle.h.

double estimation::DetectorParticle::quality_

private

Definition at line 109 of file detector_particle.h.

BFL::SysModelVector estimation::DetectorParticle::sys_model_

private

Definition at line 104 of file detector_particle.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation