Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
BFL::HistogramFilter< MeasVar > Class Template Reference

Class representing the histogram filter. More...

#include <histogramfilter.h>

Inheritance diagram for BFL::HistogramFilter< MeasVar >:
Inheritance graph
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Public Member Functions

 HistogramFilter (DiscretePdf *prior)
 Constructor. More...
 
virtual DiscretePdfPostGet ()
 Get Posterior density. More...
 
virtual ~HistogramFilter ()
 Destructor. More...
 
- Public Member Functions inherited from BFL::Filter< int, MeasVar >
 Filter (Pdf< int > *prior)
 Constructor. More...
 
 Filter (const Filter< int, MeasVar > &filt)
 copy constructor More...
 
virtual void Reset (Pdf< int > *prior)
 Reset Filter. More...
 
int TimeStepGet () const
 Get current time. More...
 
virtual bool Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Full Update (system with inputs/sensing params) More...
 
virtual bool Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Full Update (system without inputs, with sensing params) More...
 
virtual bool Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z)
 Full Update (system without inputs/sensing params) More...
 
virtual bool Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z)
 Full Update (system with inputs, without sensing params) More...
 
virtual bool Update (SystemModel< int > *const sysmodel, const int &u)
 System Update (system with inputs) More...
 
virtual bool Update (SystemModel< int > *const sysmodel)
 System Update (system without inputs) More...
 
virtual bool Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Measurement Update (system with "sensing params") More...
 
virtual bool Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z)
 Measurement Update (system without "sensing params") More...
 
virtual ~Filter ()
 destructor More...
 

Protected Member Functions

void MeasUpdate (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Measurement Update. More...
 
void SysUpdate (SystemModel< int > *const sysmodel, const int &u)
 
bool UpdateInternal (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Actual implementation of Update, varies along filters. More...
 

Protected Attributes

vector< Probability_new_prob
 While updating store list of new probabilities. More...
 
vector< Probability_old_prob
 While updating store list of old probabilities. More...
 
- Protected Attributes inherited from BFL::Filter< int, MeasVar >
Pdf< int > * _post
 Pointer to the Posterior Pdf. More...
 
Pdf< int > * _prior
 prior Pdf More...
 
int _timestep
 Represents the current timestep of the filter. More...
 

Detailed Description

template<typename MeasVar>
class BFL::HistogramFilter< MeasVar >

Class representing the histogram filter.

This is a class representing the histogram filter. A histogram filter is the basic discrete state filter for histogram representations of the state. The implementation is based upon Probabilistic Robotics book of Thrun, Burgard, Fox

{ ThrunBurgardFox2005, author = {Thrun, S. and Burgard, W. and Fox, D.}, title = {Probabilistic Robotics}, publisher = {MIT Press}, year = {2005}, issn_isbn = {0-262-20162-3}, annote = {{http://www.probabilistic-robotics.org}}, keywords = {Bayes theory, estimation} } The system of updating the Posterior density is implemented in this class.

Definition at line 49 of file histogramfilter.h.

Constructor & Destructor Documentation

◆ HistogramFilter()

template<typename MeasVar >
BFL::HistogramFilter< MeasVar >::HistogramFilter ( DiscretePdf prior)

Constructor.

Precondition
you created the prior
Parameters
priorpointer to the Discrete Pdf prior density

Definition at line 24 of file histogramfilter.cpp.

◆ ~HistogramFilter()

template<typename MeasVar >
BFL::HistogramFilter< MeasVar >::~HistogramFilter ( )
virtual

Destructor.

Definition at line 35 of file histogramfilter.cpp.

Member Function Documentation

◆ MeasUpdate()

template<typename MeasVar >
void BFL::HistogramFilter< MeasVar >::MeasUpdate ( MeasurementModel< MeasVar, int > *const  measmodel,
const MeasVar z,
const int &  s 
)
protected

Measurement Update.

Update the filter's Posterior density using the sensor measurements, an input and the measurement model.

Parameters
measmodelpointer to the measurement model the filter should use
zsensor measurement
sinput to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf

Definition at line 72 of file histogramfilter.cpp.

◆ PostGet()

template<typename MeasVar >
DiscretePdf * BFL::HistogramFilter< MeasVar >::PostGet ( )
virtual

Get Posterior density.

Get the current Posterior density

Returns
a pointer to the current posterior

Reimplemented from BFL::Filter< int, MeasVar >.

Definition at line 99 of file histogramfilter.cpp.

◆ SysUpdate()

template<typename MeasVar >
void BFL::HistogramFilter< MeasVar >::SysUpdate ( SystemModel< int > *const  sysmodel,
const int &  u 
)
protected

Calculate Discrete filter System Update

Parameters
sysmodelpointer to the system model the filter should use
uinput to the system

Definition at line 42 of file histogramfilter.cpp.

◆ UpdateInternal()

template<typename MeasVar >
bool BFL::HistogramFilter< MeasVar >::UpdateInternal ( SystemModel< int > *const  sysmodel,
const int &  u,
MeasurementModel< MeasVar, int > *const  measmodel,
const MeasVar z,
const int &  s 
)
protectedvirtual

Actual implementation of Update, varies along filters.

Parameters
sysmodelpointer to the used system model
uinput param for proposal density
measmodelpointer to the used measurementmodel
zmeasurement param for proposal density
ssensor param for proposal density

Implements BFL::Filter< int, MeasVar >.

Definition at line 87 of file histogramfilter.cpp.

Member Data Documentation

◆ _new_prob

template<typename MeasVar>
vector<Probability > BFL::HistogramFilter< MeasVar >::_new_prob
protected

While updating store list of new probabilities.

Definition at line 68 of file histogramfilter.h.

◆ _old_prob

template<typename MeasVar>
vector<Probability > BFL::HistogramFilter< MeasVar >::_old_prob
protected

While updating store list of old probabilities.

Definition at line 66 of file histogramfilter.h.


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


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Mon Feb 28 2022 21:56:34