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

Generic landmark model for discrete detection sensors (both 2D and 3D). More...

#include <landmark_sensor_model.hpp>

Public Types
using	map_type = LandmarkMap
	Map representation type. More...
using	measurement_type = std::vector< LandmarkPositionDetection >
	Measurement type of the sensor, detection position in robot frame. More...
using	param_type = LandmarkModelParam
	Parameter type that the constructor uses to configure the beam 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
	LandmarkSensorModel (param_type params, LandmarkMap landmark_map)
	Constructs a LandmarkSensorModel instance. More...
auto	operator() (measurement_type &&detections) const
	Returns a state weighting function conditioned on landmark position 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::LandmarkSensorModel< LandmarkMap, StateType >

Generic landmark model for discrete detection sensors (both 2D and 3D).

This sensor model is a generalization of the Sensor Model with Known Correspondences described in Probabilistic Robotics [thrun2005probabilistic], Chapter 6.6. This version has been extended to support landmark detection in 3D even when the robot is constrained to 2D motion. The importance weight function models detections as having two components that can be independently measured: range and bearing.

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 63 of file landmark_sensor_model.hpp.

Member Typedef Documentation

map_type

template<class LandmarkMap , class StateType >

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

Map representation type.

Definition at line 72 of file landmark_sensor_model.hpp.

measurement_type

template<class LandmarkMap , class StateType >

using beluga::LandmarkSensorModel< LandmarkMap, StateType >::measurement_type = std::vector<LandmarkPositionDetection>

Measurement type of the sensor, detection position in robot frame.

Definition at line 70 of file landmark_sensor_model.hpp.

param_type

template<class LandmarkMap , class StateType >

using beluga::LandmarkSensorModel< LandmarkMap, StateType >::param_type = LandmarkModelParam

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

Definition at line 74 of file landmark_sensor_model.hpp.

state_type

template<class LandmarkMap , class StateType >

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

State type of a particle.

Definition at line 66 of file landmark_sensor_model.hpp.

weight_type

template<class LandmarkMap , class StateType >

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

Weight type of the particle.

Definition at line 68 of file landmark_sensor_model.hpp.

Constructor & Destructor Documentation

LandmarkSensorModel()

template<class LandmarkMap , class StateType >

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

inlineexplicit

Constructs a LandmarkSensorModel instance.

Parameters

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

Definition at line 82 of file landmark_sensor_model.hpp.

Member Function Documentation

operator()()

template<class LandmarkMap , class StateType >

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

inline

Returns a state weighting function conditioned on landmark position detections.

Parameters

detections

2D lidar hit points in the reference frame of filter particles.

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 91 of file landmark_sensor_model.hpp.

update_map()

template<class LandmarkMap , class StateType >

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

inline

Update the sensor model with a new landmark map.

Definition at line 159 of file landmark_sensor_model.hpp.

Member Data Documentation

landmark_map_

template<class LandmarkMap , class StateType >

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

private

Definition at line 163 of file landmark_sensor_model.hpp.

params_

template<class LandmarkMap , class StateType >

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

private

Definition at line 162 of file landmark_sensor_model.hpp.

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

• landmark_sensor_model.hpp