beluga::BearingSensorModel< LandmarkMap, StateType > Class Template Reference

Generic bearing sensor model, for both 2D and 3D state types. More...

#include <bearing_sensor_model.hpp>

Public Types
using	map_type = LandmarkMap
	Map representation type. More...
using	measurement_type = std::vector< LandmarkBearingDetection >
	Measurement type of the sensor: vector of landmark detections. More...
using	param_type = BearingModelParam
	Parameter type that the constructor uses to configure the bearing sensor model. More...
using	state_type = StateType
	State type of a particle. More...
using	weight_type = double
	Weight type of the particle. More...

Public Member Functions
template<class... Args>
	BearingSensorModel (param_type params, LandmarkMap landmark_map)
	Constructs a BearingSensorModel instance. More...
auto	operator() (measurement_type &&detections) const
	Returns a state weighting function conditioned on landmark bearing detections. More...
void	update_map (map_type &&map)
	Update the sensor model with a new landmark map. More...

Private Attributes
LandmarkMap	landmark_map_
param_type	params_

Detailed Description

template<class LandmarkMap, class StateType>
class beluga::BearingSensorModel< LandmarkMap, StateType >

Generic bearing sensor model, for both 2D and 3D state types.

The model only relies on the bearing of a landmark detection relative to the sensor when calculating the updated importance weight. This can be used to support bearing-only measurements, such as feature detections in monocular images.

Note

This class satisfies Beluga named requirements: SensorModel.

Template Parameters

LandmarkMap	class managing the list of known landmarks.
StateType	type of the state of the particle.

Definition at line 60 of file bearing_sensor_model.hpp.

Member Typedef Documentation

map_type

template<class LandmarkMap , class StateType >

using beluga::BearingSensorModel< LandmarkMap, StateType >::map_type = LandmarkMap

Map representation type.

Definition at line 69 of file bearing_sensor_model.hpp.

measurement_type

template<class LandmarkMap , class StateType >

using beluga::BearingSensorModel< LandmarkMap, StateType >::measurement_type = std::vector<LandmarkBearingDetection>

Measurement type of the sensor: vector of landmark detections.

Definition at line 67 of file bearing_sensor_model.hpp.

param_type

template<class LandmarkMap , class StateType >

using beluga::BearingSensorModel< LandmarkMap, StateType >::param_type = BearingModelParam

Parameter type that the constructor uses to configure the bearing sensor model.

Definition at line 71 of file bearing_sensor_model.hpp.

state_type

template<class LandmarkMap , class StateType >

using beluga::BearingSensorModel< LandmarkMap, StateType >::state_type = StateType

State type of a particle.

Definition at line 63 of file bearing_sensor_model.hpp.

weight_type

template<class LandmarkMap , class StateType >

using beluga::BearingSensorModel< LandmarkMap, StateType >::weight_type = double

Weight type of the particle.

Definition at line 65 of file bearing_sensor_model.hpp.

Constructor & Destructor Documentation

BearingSensorModel()

template<class LandmarkMap , class StateType >

template<class... Args>

beluga::BearingSensorModel< LandmarkMap, StateType >::BearingSensorModel ( param_type  params, LandmarkMap  landmark_map  )

inlineexplicit

Constructs a BearingSensorModel instance.

Parameters

params	Parameters to configure this instance. See beluga::BearingModelParam for details.
landmark_map	Map of landmarks to be used by the sensor model to compute importance weights for particle states.

Definition at line 80 of file bearing_sensor_model.hpp.

Member Function Documentation

operator()()

template<class LandmarkMap , class StateType >

auto beluga::BearingSensorModel< LandmarkMap, StateType >::operator() ( measurement_type &&  detections ) const

inline

Returns a state weighting function conditioned on landmark bearing detections.

Parameters

detections

Landmark bearing detections in the reference frame of particle states.

Returns

a state weighting function satisfying Beluga named requirements: StateWeightingFunction and borrowing a reference to this sensor model (and thus their lifetime are bound).

Definition at line 89 of file bearing_sensor_model.hpp.

update_map()

template<class LandmarkMap , class StateType >

void beluga::BearingSensorModel< LandmarkMap, StateType >::update_map ( map_type &&  map )

inline

Update the sensor model with a new landmark map.

Definition at line 144 of file bearing_sensor_model.hpp.

Member Data Documentation

landmark_map_

template<class LandmarkMap , class StateType >

LandmarkMap beluga::BearingSensorModel< LandmarkMap, StateType >::landmark_map_

private

Definition at line 148 of file bearing_sensor_model.hpp.

params_

template<class LandmarkMap , class StateType >

param_type beluga::BearingSensorModel< LandmarkMap, StateType >::params_

private

Definition at line 147 of file bearing_sensor_model.hpp.

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

• bearing_sensor_model.hpp