PFLocalization Class Reference

#include <mrpt_localization.h>

Inheritance diagram for PFLocalization:

Classes
struct	Parameters

Public Member Functions
	PFLocalization (Parameters *parm)
virtual	~PFLocalization ()
Public Member Functions inherited from PFLocalizationCore
void	init ()
void	observation (CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)
	PFLocalizationCore ()
	~PFLocalizationCore ()

Protected Member Functions
void	configureFilter (const CConfigFile &_configFile)
void	init ()
void	init3DDebug ()
void	show3DDebug (CSensoryFrame::Ptr _observations)
virtual bool	waitForMap ()

Protected Attributes
Parameters *	param_
bool	SCENE3D_FOLLOW_
int	SCENE3D_FREQ_
mrpt::opengl::COpenGLScene	scene_
bool	SHOW_PROGRESS_3D_REAL_TIME_
int	SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_
mrpt::gui::CDisplayWindow3D::Ptr	win3D_
Protected Attributes inherited from PFLocalizationCore
float	init_PDF_max_x
float	init_PDF_max_y
float	init_PDF_min_x
	any cell More...
float	init_PDF_min_y
bool	init_PDF_mode
int	initial_particle_count_
	number of particles for initialization More...
mrpt::poses::CPosePDFGaussian	initial_pose_
	initial posed used in initializeFilter() More...
CMultiMetricMap	metric_map_
	map More...
CActionRobotMovement2D::TMotionModelOptions	motion_model_default_options_
	used if there are is not odom More...
CActionRobotMovement2D::TMotionModelOptions	motion_model_options_
	used with odom value motion noise More...
mrpt::poses::CPose2D	odom_last_observation_
	correct time More...
mrpt::slam::CMonteCarloLocalization2D	pdf_
	the filter More...
mrpt::bayes::CParticleFilter	pf_
	common interface for particle filters More...
mrpt::bayes::CParticleFilter::TParticleFilterStats	pf_stats_
	filter statistics More...
PFStates	state_
	updates More...
mrpt::utils::CTicTac	tictac_
	timer to measure performance More...
mrpt::system::TTimeStamp	time_last_update_
	time of the last update More...
size_t	update_counter_
bool	use_motion_model_default_options_
	used default odom_params More...

Additional Inherited Members
Public Types inherited from PFLocalizationCore
enum	PFStates { NA, INIT, RUN, IDLE }

Detailed Description

Definition at line 53 of file mrpt_localization.h.

Constructor & Destructor Documentation

PFLocalization::PFLocalization

(

Parameters *

parm

)

Definition at line 72 of file mrpt_localization.cpp.

PFLocalization::~PFLocalization ( )

virtual

Definition at line 71 of file mrpt_localization.cpp.

Member Function Documentation

void PFLocalization::configureFilter ( const CConfigFile &  _configFile )

protected

Definition at line 176 of file mrpt_localization.cpp.

void PFLocalization::init ( )

protected

Definition at line 77 of file mrpt_localization.cpp.

void PFLocalization::init3DDebug ( )

protected

Definition at line 201 of file mrpt_localization.cpp.

void PFLocalization::show3DDebug ( CSensoryFrame::Ptr  _observations )

protected

ToDo

Definition at line 262 of file mrpt_localization.cpp.

virtual bool PFLocalization::waitForMap ( )

inlineprotectedvirtual

Reimplemented in PFLocalizationNode.

Definition at line 80 of file mrpt_localization.h.

Member Data Documentation

Parameters* PFLocalization::param_

protected

Definition at line 75 of file mrpt_localization.h.

bool PFLocalization::SCENE3D_FOLLOW_

protected

Definition at line 85 of file mrpt_localization.h.

int PFLocalization::SCENE3D_FREQ_

protected

Definition at line 84 of file mrpt_localization.h.

mrpt::opengl::COpenGLScene PFLocalization::scene_

protected

Definition at line 82 of file mrpt_localization.h.

bool PFLocalization::SHOW_PROGRESS_3D_REAL_TIME_

protected

Definition at line 86 of file mrpt_localization.h.

int PFLocalization::SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_

protected

Definition at line 87 of file mrpt_localization.h.

mrpt::gui::CDisplayWindow3D::Ptr PFLocalization::win3D_

protected

Definition at line 81 of file mrpt_localization.h.

---

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

• mrpt_localization.h
• mrpt_localization.cpp