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

#include <pf.h>

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 num_particles)
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  num_particles )

inlineexplicit

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 394 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 400 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 224 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 277 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 404 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 253 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 267 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 348 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 352 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 318 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 332 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 231 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 210 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 217 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 356 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 413 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 414 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 410 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 411 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 412 of file pf.h.

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

• pf.h