Implementation of algorithms that allow calculating the estimated state of a particle filter. More...
#include <range/v3/algorithm/count_if.hpp>#include <range/v3/numeric/accumulate.hpp>#include <range/v3/range/access.hpp>#include <range/v3/range/primitives.hpp>#include <range/v3/view/common.hpp>#include <range/v3/view/repeat_n.hpp>#include <range/v3/view/transform.hpp>#include <sophus/se2.hpp>#include <sophus/types.hpp>#include <numeric>
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Namespaces | |
| beluga | |
| The main Beluga namespace. | |
Functions | |
| template<class Range , class Scalar > | |
| Sophus::Matrix2< Scalar > | beluga::calculate_covariance (Range &&range, const Sophus::Vector2< Scalar > &mean) |
| template<class Range , class WeightsRange , class Scalar > | |
| Sophus::Matrix2< Scalar > | beluga::calculate_covariance (Range &&range, WeightsRange &&normalized_weights, const Sophus::Vector2< Scalar > &mean) |
| Calculates the covariance of a range given its mean and the weights of each element. More... | |
| template<class Poses , class Pose = ranges::range_value_t<Poses>, class Scalar = typename Pose::Scalar, typename = std::enable_if_t<std::is_same_v<Pose, typename Sophus::SE2<Scalar>>>> | |
| std::pair< Sophus::SE2< Scalar >, Sophus::Matrix3< Scalar > > | beluga::estimate (Poses &&poses) |
| Returns a pair consisting of the estimated mean pose and its covariance. More... | |
| template<class Poses , class Weights , class Pose = ranges::range_value_t<Poses>, class Scalar = typename Pose::Scalar, typename = std::enable_if_t<std::is_same_v<Pose, typename Sophus::SE2<Scalar>>>> | |
| std::pair< Sophus::SE2< Scalar >, Sophus::Matrix3< Scalar > > | beluga::estimate (Poses &&poses, Weights &&weights) |
| Returns a pair consisting of the estimated mean pose and its covariance. More... | |
| template<class Scalars , class Weights , class Scalar = ranges::range_value_t<Scalars>, typename = std::enable_if_t<std::is_arithmetic_v<Scalar>>> | |
| std::pair< Scalar, Scalar > | beluga::estimate (Scalars &&scalars, Weights &&weights) |
| Computes mean and variance of a range of weighted scalars. More... | |
Detailed Description
Implementation of algorithms that allow calculating the estimated state of a particle filter.
Definition in file estimation.hpp.