#include <HypothesesTree.h>
Detailed Description
The hypothesis tree class is used to store all hypotheses. Protected members are trailed with an underscore. Each time a new measurement arrives, the tree is expanded and the most hypothesis with the maximum a posteriori probability (MAP) is selected. The MAP hypothesis is believed to represent the current state of the world. The number of hypotheses in a tree grows more than exponential with the number of measurement and, therefore, this class includes a pruning function that after each measurement prunes the least probable hypotheses. A hypotheses tree contains:
- a multiset containing pointers to all hypotheses
- a list containing pointers to all objects that exist in all hypotheses
- a pointer to the MAP hypothesis
- Date
- March, 2011
- Version
- 1.0
This file is part of the RoboEarth ROS world modeling package.
It was originally created for RoboEarth. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement no248942 RoboEarth.
Copyright (C) 2011 by Jos Elfring and Sjoerd van den Dries, Eindhoven University of Technology
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- Date
- March, 2011
- Version
- 1.0
The documentation for this class was generated from the following file: