Beluga named requirements: SensorModel

Requirements for a sensor model to be used in a Beluga ParticleFilter.

Requirements

A type T satisfies the SensorModel requirements if the following is satisfied:

• T::state_type is a valid type, representing a particle state.
• T::weight_type is an arithmetic type, representing a particle weight.
• T::measurement_type is a valid type, representing a sensor measurement.

Given:

• A possibly const instance cp of T.
• A movable instance m of T::measurement_type.

Then:

• cp(m) returns a callable satisfying Beluga named requirements: StateWeightingFunction for states of T::state_type and weights of T::weight_type types.

Beluga named requirements: StateWeightingFunction

Requirements on a callable used for reweighting particle states in a Beluga ParticleFilter.

Requirements

A type F satisfies the StateWeightingFunction requirements for some state type S and weight type W if:

Given:

• A possibly const instance fn of F.
• A possible const instance s of S.

Then:

• fn(s) returns a weight w of W.

See also

• beluga::LikelihoodFieldModel
• beluga::BeamSensorModel
• beluga::LandmarkSensorModel
• beluga::BearingSensorModel