#include <tracker_particle.h>

Inheritance diagram for estimation::TrackerParticle:

Public Member Functions
virtual void	getEstimate (BFL::StatePosVel &est) const
	get filter posterior More...

virtual void	getEstimate (people_msgs::PositionMeasurement &est) const

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

MatrixWrapper::Matrix	getHistogramVel (const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const

virtual double	getLifetime () const
	return the lifetime of the tracker More...

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

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

virtual double	getTime () const
	return the time of the tracker More...

virtual void	initialize (const BFL::StatePosVel &mu, const BFL::StatePosVel &sigma, const double time)
	initialize tracker More...

virtual bool	isInitialized () const
	return if tracker was initialized More...

	TrackerParticle (const std::string &name, unsigned int num_particles, const BFL::StatePosVel &sysnoise)
	constructor More...

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

virtual bool	updatePrediction (const double time)
	update tracker More...

virtual	~TrackerParticle ()
	destructor More...

Public Member Functions inherited from estimation::Tracker
const std::string &	getName () const
	return the name of the tracker More...

	Tracker (const std::string &name)
	constructor More...

virtual	~Tracker ()
	destructor More...

Private Attributes
BFL::BootstrapFilter< BFL::StatePosVel, tf::Vector3 > *	filter_

double	filter_time_

double	init_time_

BFL::MeasModelPos	meas_model_

unsigned int	num_particles_

BFL::MCPdfPosVel	prior_

double	quality_

BFL::SysModelPosVel	sys_model_

bool	tracker_initialized_

Detailed Description

Definition at line 61 of file tracker_particle.h.

Constructor & Destructor Documentation

estimation::TrackerParticle::TrackerParticle	(	const std::string &	name,
		unsigned int	num_particles,
		const BFL::StatePosVel &	sysnoise
	)

constructor

Definition at line 47 of file tracker_particle.cpp.

estimation::TrackerParticle::~TrackerParticle ( )

virtual

destructor

Definition at line 58 of file tracker_particle.cpp.

Member Function Documentation

void estimation::TrackerParticle::getEstimate ( BFL::StatePosVel & est ) const

virtual

get filter posterior

Implements estimation::Tracker.

Definition at line 121 of file tracker_particle.cpp.

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

virtual

Implements estimation::Tracker.

Definition at line 126 of file tracker_particle.cpp.

Matrix estimation::TrackerParticle::getHistogramPos	(	const tf::Vector3 &	min,
		const tf::Vector3 &	max,
		const tf::Vector3 &	step
	)		const

Get histogram from certain area.

Definition at line 139 of file tracker_particle.cpp.

Matrix estimation::TrackerParticle::getHistogramVel	(	const tf::Vector3 &	min,
		const tf::Vector3 &	max,
		const tf::Vector3 &	step
	)		const

Definition at line 144 of file tracker_particle.cpp.

double estimation::TrackerParticle::getLifetime ( ) const

virtual

return the lifetime of the tracker

Implements estimation::Tracker.

Definition at line 149 of file tracker_particle.cpp.

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

Definition at line 115 of file tracker_particle.cpp.

virtual double estimation::TrackerParticle::getQuality ( ) const

inlinevirtual

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

Implements estimation::Tracker.

Definition at line 80 of file tracker_particle.h.

double estimation::TrackerParticle::getTime ( ) const

virtual

return the time of the tracker

Implements estimation::Tracker.

Definition at line 157 of file tracker_particle.cpp.

void estimation::TrackerParticle::initialize	(	const BFL::StatePosVel &	mu,
		const BFL::StatePosVel &	sigma,
		const double	time
	)

virtual

initialize tracker

Implements estimation::Tracker.

Definition at line 64 of file tracker_particle.cpp.

virtual bool estimation::TrackerParticle::isInitialized ( ) const

inlinevirtual

return if tracker was initialized

Implements estimation::Tracker.

Definition at line 74 of file tracker_particle.h.

bool estimation::TrackerParticle::updateCorrection	(	const tf::Vector3 &	meas,
		const MatrixWrapper::SymmetricMatrix &	cov
	)

virtual

Implements estimation::Tracker.

Definition at line 100 of file tracker_particle.cpp.

bool estimation::TrackerParticle::updatePrediction ( const double time )

virtual

update tracker

Implements estimation::Tracker.

Definition at line 83 of file tracker_particle.cpp.

Member Data Documentation

BFL::BootstrapFilter<BFL::StatePosVel, tf::Vector3>* estimation::TrackerParticle::filter_

private

Definition at line 110 of file tracker_particle.h.

double estimation::TrackerParticle::filter_time_

private

Definition at line 116 of file tracker_particle.h.

double estimation::TrackerParticle::init_time_

private

Definition at line 116 of file tracker_particle.h.

BFL::MeasModelPos estimation::TrackerParticle::meas_model_

private

Definition at line 112 of file tracker_particle.h.

unsigned int estimation::TrackerParticle::num_particles_

private

Definition at line 117 of file tracker_particle.h.

BFL::MCPdfPosVel estimation::TrackerParticle::prior_

private

Definition at line 109 of file tracker_particle.h.

double estimation::TrackerParticle::quality_

private

Definition at line 116 of file tracker_particle.h.

BFL::SysModelPosVel estimation::TrackerParticle::sys_model_

private

Definition at line 111 of file tracker_particle.h.

bool estimation::TrackerParticle::tracker_initialized_

private

Definition at line 115 of file tracker_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