#include <detector_particle.h>
Public Member Functions | |
| DetectorParticle (unsigned int num_particles) | |
| constructor | |
| void | getEstimate (tf::Vector3 &est) const |
| get filter posterior | |
| void | getEstimate (people_msgs::PositionMeasurement &est) const |
| MatrixWrapper::Matrix | getHistogram (const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const |
| Get histogram from certain area. | |
| void | getParticleCloud (const tf::Vector3 &step, double threshold, sensor_msgs::PointCloud &cloud) const |
| double | getQuality () const |
| return measure for detector quality: 0=bad 1=good | |
| void | initialize (const tf::Vector3 &mu, const tf::Vector3 &size, const double time) |
| initialize detector | |
| bool | isInitialized () const |
| return if detector was initialized | |
| bool | updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov, const double time) |
| bool | updatePrediction (const double dt) |
| update detector | |
| ~DetectorParticle () | |
| destructor | |
Private Attributes | |
| bool | detector_initialized_ |
| BFL::BootstrapFilter < tf::Vector3, tf::Vector3 > * | filter_ |
| double | filter_time_ |
| BFL::MeasModelVector | meas_model_ |
| unsigned int | num_particles_ |
| BFL::MCPdfVector | prior_ |
| double | quality_ |
| BFL::SysModelVector | sys_model_ |
Definition at line 60 of file detector_particle.h.
| estimation::DetectorParticle::DetectorParticle | ( | unsigned int | num_particles | ) |
constructor
Definition at line 53 of file detector_particle.cpp.
destructor
Definition at line 65 of file detector_particle.cpp.
| void estimation::DetectorParticle::getEstimate | ( | tf::Vector3 & | est | ) | const |
get filter posterior
Definition at line 134 of file detector_particle.cpp.
| void estimation::DetectorParticle::getEstimate | ( | people_msgs::PositionMeasurement & | est | ) | const |
Definition at line 140 of file detector_particle.cpp.
| Matrix estimation::DetectorParticle::getHistogram | ( | const tf::Vector3 & | min, |
| const tf::Vector3 & | max, | ||
| const tf::Vector3 & | step | ||
| ) | const |
Get histogram from certain area.
Definition at line 157 of file detector_particle.cpp.
| void estimation::DetectorParticle::getParticleCloud | ( | const tf::Vector3 & | step, |
| double | threshold, | ||
| sensor_msgs::PointCloud & | cloud | ||
| ) | const |
Definition at line 127 of file detector_particle.cpp.
| double estimation::DetectorParticle::getQuality | ( | ) | const [inline] |
return measure for detector quality: 0=bad 1=good
Definition at line 79 of file detector_particle.h.
| void estimation::DetectorParticle::initialize | ( | const tf::Vector3 & | mu, |
| const tf::Vector3 & | size, | ||
| const double | time | ||
| ) |
initialize detector
Definition at line 72 of file detector_particle.cpp.
| bool estimation::DetectorParticle::isInitialized | ( | ) | const [inline] |
return if detector was initialized
Definition at line 73 of file detector_particle.h.
| bool estimation::DetectorParticle::updateCorrection | ( | const tf::Vector3 & | meas, |
| const MatrixWrapper::SymmetricMatrix & | cov, | ||
| const double | time | ||
| ) |
Definition at line 108 of file detector_particle.cpp.
| bool estimation::DetectorParticle::updatePrediction | ( | const double | dt | ) |
update detector
Definition at line 93 of file detector_particle.cpp.
bool estimation::DetectorParticle::detector_initialized_ [private] |
Definition at line 108 of file detector_particle.h.
Definition at line 103 of file detector_particle.h.
double estimation::DetectorParticle::filter_time_ [private] |
Definition at line 109 of file detector_particle.h.
Definition at line 105 of file detector_particle.h.
unsigned int estimation::DetectorParticle::num_particles_ [private] |
Definition at line 110 of file detector_particle.h.
Definition at line 102 of file detector_particle.h.
double estimation::DetectorParticle::quality_ [private] |
Definition at line 109 of file detector_particle.h.
Definition at line 104 of file detector_particle.h.