void getParticleCloud(const tf::Vector3 &step, double threshold, sensor_msgs::PointCloud &cloud) const
bool isInitialized() const
return if detector was initialized
bool detector_initialized_
unsigned int num_particles_
double getQuality() const
return measure for detector quality: 0=bad 1=good
void getEstimate(tf::Vector3 &est) const
get filter posterior
DetectorParticle(unsigned int num_particles)
constructor
BFL::BootstrapFilter< tf::Vector3, tf::Vector3 > * filter_
BFL::MeasModelVector meas_model_
bool updatePrediction(const double dt)
update detector
MatrixWrapper::Matrix getHistogram(const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
Get histogram from certain area.
bool updateCorrection(const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov, const double time)
void initialize(const tf::Vector3 &mu, const tf::Vector3 &size, const double time)
initialize detector
BFL::SysModelVector sys_model_