beluga::ParticleClusterizer Class Reference

Particle clusterizer implementation. More...

#include <cluster_based_estimation.hpp>

Public Member Functions
auto	neighbors (const Sophus::SE2d &pose) const
	Computes the neighboring cells for a given pose using the spatial hash function. More...
template<class States , class Weights >
auto	operator() (States &&states, Weights &&weights)
	Clusters the given particles based on their states and weights. More...
	ParticleClusterizer (const ParticleClusterizerParam &parameters)
	Constructor that initializes the ParticleClusterizer with given parameters. More...

Private Attributes
std::array< Sophus::SE2d, 6 >	adjacent_grid_cells_
ParticleClusterizerParam	parameters_
	Parameters for the particle clusterizer. More...
beluga::spatial_hash< Sophus::SE2d >	spatial_hash_function_

Detailed Description

Particle clusterizer implementation.

Definition at line 268 of file cluster_based_estimation.hpp.

Constructor & Destructor Documentation

ParticleClusterizer()

beluga::ParticleClusterizer::ParticleClusterizer ( const ParticleClusterizerParam &  parameters )

inlineexplicit

Constructor that initializes the ParticleClusterizer with given parameters.

Definition at line 271 of file cluster_based_estimation.hpp.

Member Function Documentation

neighbors()

auto beluga::ParticleClusterizer::neighbors ( const Sophus::SE2d &  pose ) const

inline

Computes the neighboring cells for a given pose using the spatial hash function.

Parameters

pose	The pose for which neighboring cells are computed.

Returns

A range of spatial hashes corresponding to the neighboring cells.

Definition at line 278 of file cluster_based_estimation.hpp.

operator()()

template<class States , class Weights >

auto beluga::ParticleClusterizer::operator() ( States &&  states, Weights &&  weights  )

inline

Clusters the given particles based on their states and weights.

Template Parameters

States	Range type of the states.
Weights	Range type of the weights.

Parameters

states	Range containing the states of the particles.
weights	Range containing the weights of the particles.

Returns

A vector of cluster IDs corresponding to the input particles.

Definition at line 293 of file cluster_based_estimation.hpp.

Member Data Documentation

adjacent_grid_cells_

std::array<Sophus::SE2d, 6> beluga::ParticleClusterizer::adjacent_grid_cells_

private

Initial value:

= {
      
      Sophus::SE2d{Sophus::SO2d{0.0}, Sophus::Vector2d{+parameters_.linear_hash_resolution, 0.0}},
      Sophus::SE2d{Sophus::SO2d{0.0}, Sophus::Vector2d{-parameters_.linear_hash_resolution, 0.0}},
      Sophus::SE2d{Sophus::SO2d{0.0}, Sophus::Vector2d{0.0, +parameters_.linear_hash_resolution}},
      Sophus::SE2d{Sophus::SO2d{0.0}, Sophus::Vector2d{0.0, -parameters_.linear_hash_resolution}},
      Sophus::SE2d{Sophus::SO2d{+parameters_.angular_hash_resolution}, Sophus::Vector2d{0.0, 0.0}},
      Sophus::SE2d{Sophus::SO2d{-parameters_.angular_hash_resolution}, Sophus::Vector2d{0.0, 0.0}},
  }

Definition at line 314 of file cluster_based_estimation.hpp.

parameters_

ParticleClusterizerParam beluga::ParticleClusterizer::parameters_

private

Parameters for the particle clusterizer.

Definition at line 306 of file cluster_based_estimation.hpp.

spatial_hash_function_

beluga::spatial_hash<Sophus::SE2d> beluga::ParticleClusterizer::spatial_hash_function_

private

Initial value:

{
      parameters_.linear_hash_resolution,  
      parameters_.linear_hash_resolution,  
      parameters_.angular_hash_resolution  
  }

Definition at line 308 of file cluster_based_estimation.hpp.

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

• cluster_based_estimation.hpp