PFLocalizationCore Class Reference

#include <mrpt_localization_core.h>

Inheritance diagram for PFLocalizationCore:

List of all members.

Public Types
enum	PFStates { NA, INIT, RUN }
Public Member Functions
void	init ()
	PFLocalizationCore ()
	~PFLocalizationCore ()
Protected Member Functions
void	initializeFilter (mrpt::utils::CPosePDFGaussian &p)
void	observation (mrpt::slam::CSensoryFramePtr _sf, mrpt::slam::CObservationOdometryPtr _odometry)
void	updateFilter (mrpt::slam::CActionCollectionPtr _action, mrpt::slam::CSensoryFramePtr _sf)
Protected Attributes
int	initialParticleCount_
mrpt::utils::CPosePDFGaussian	initialPose_
mrpt::slam::CMultiMetricMap	metric_map_
mrpt::slam::CActionRobotMovement2D::TMotionModelOptions	odom_params_
mrpt::slam::CActionRobotMovement2D::TMotionModelOptions	odom_params_dummy_
mrpt::poses::CPose2D	odomLastObservation_
mrpt::slam::CMonteCarloLocalization2D	pdf_
mrpt::bayes::CParticleFilter	pf_
mrpt::bayes::CParticleFilter::TParticleFilterStats	pf_stats_
PFStates	state_
mrpt::utils::CTicTac	tictac_
mrpt::system::TTimeStamp	timeLastUpdate_
size_t	update_counter_
Private Attributes
	MRPT_VIRTUAL_LOG_MACROS

---

Detailed Description

Definition at line 39 of file mrpt_localization_core.h.

---

Member Enumeration Documentation

enum PFLocalizationCore::PFStates

Enumerator:

NA
INIT
RUN

Definition at line 42 of file mrpt_localization_core.h.

---

Constructor & Destructor Documentation

PFLocalizationCore::PFLocalizationCore

(

)

Definition at line 48 of file mrpt_localization_core.cpp.

PFLocalizationCore::~PFLocalizationCore

(

)

Definition at line 44 of file mrpt_localization_core.cpp.

---

Member Function Documentation

void PFLocalizationCore::init

(

)

Reimplemented in PFLocalizationNode, and PFLocalization.

Definition at line 53 of file mrpt_localization_core.cpp.

void PFLocalizationCore::initializeFilter

(

mrpt::utils::CPosePDFGaussian &

p

)

[protected]

Definition at line 57 of file mrpt_localization_core.cpp.

void PFLocalizationCore::observation	(	mrpt::slam::CSensoryFramePtr	_sf,
		mrpt::slam::CObservationOdometryPtr	_odometry
	)		[protected]

Definition at line 81 of file mrpt_localization_core.cpp.

void PFLocalizationCore::updateFilter	(	mrpt::slam::CActionCollectionPtr	_action,
		mrpt::slam::CSensoryFramePtr	_sf
	)		[protected]

Definition at line 73 of file mrpt_localization_core.cpp.

---

Member Data Documentation

int PFLocalizationCore::initialParticleCount_ [protected]

Definition at line 60 of file mrpt_localization_core.h.

mrpt::utils::CPosePDFGaussian PFLocalizationCore::initialPose_ [protected]

Definition at line 53 of file mrpt_localization_core.h.

mrpt::slam::CMultiMetricMap PFLocalizationCore::metric_map_ [protected]

Definition at line 49 of file mrpt_localization_core.h.

PFLocalizationCore::MRPT_VIRTUAL_LOG_MACROS [private]

Definition at line 40 of file mrpt_localization_core.h.

mrpt::slam::CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::odom_params_ [protected]

Definition at line 48 of file mrpt_localization_core.h.

mrpt::slam::CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::odom_params_dummy_ [protected]

Definition at line 47 of file mrpt_localization_core.h.

mrpt::poses::CPose2D PFLocalizationCore::odomLastObservation_ [protected]

Definition at line 58 of file mrpt_localization_core.h.

mrpt::slam::CMonteCarloLocalization2D PFLocalizationCore::pdf_ [protected]

Definition at line 50 of file mrpt_localization_core.h.

mrpt::bayes::CParticleFilter PFLocalizationCore::pf_ [protected]

Definition at line 51 of file mrpt_localization_core.h.

mrpt::bayes::CParticleFilter::TParticleFilterStats PFLocalizationCore::pf_stats_ [protected]

Definition at line 52 of file mrpt_localization_core.h.

PFStates PFLocalizationCore::state_ [protected]

Definition at line 57 of file mrpt_localization_core.h.

mrpt::utils::CTicTac PFLocalizationCore::tictac_ [protected]

Definition at line 55 of file mrpt_localization_core.h.

mrpt::system::TTimeStamp PFLocalizationCore::timeLastUpdate_ [protected]

Definition at line 54 of file mrpt_localization_core.h.

size_t PFLocalizationCore::update_counter_ [protected]

Definition at line 56 of file mrpt_localization_core.h.

---

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

• mrpt_localization_core.h
• mrpt_localization_core.cpp