Random particle probability estimator. More...

#include <thrun_recovery_probability_estimator.hpp>

Public Member Functions
template<class Range >
constexpr double	operator() (Range &&range)
	Update the estimation based on a particle range. More...

constexpr void	reset () noexcept
	Reset the internal state of the estimator. More...

constexpr	ThrunRecoveryProbabilityEstimator (double alpha_slow, double alpha_fast) noexcept
	Constructor. More...

Private Attributes
ExponentialFilter	fast_filter_
	Exponential filter for the short-term average. More...

ExponentialFilter	slow_filter_
	Exponential filter for the long-term average. More...

Detailed Description

Random particle probability estimator.

This class implements an estimator for what probability to use for injecting random particles (not sampled directly from the particle set) during the resampling step of a particle filter. The inclusion of random samples enhances the filter's ability to recover in case it converges to an incorrect estimate, thereby adding an extra layer of robustness.

This estimator averages the total weight of the particles and computes the ratio between a short-term and a long-term average over time.

See Probabilistic Robotics [thrun2005probabilistic], Chapter 8.3.3.

Definition at line 38 of file thrun_recovery_probability_estimator.hpp.

Constructor & Destructor Documentation

◆ ThrunRecoveryProbabilityEstimator()

constexpr beluga::ThrunRecoveryProbabilityEstimator::ThrunRecoveryProbabilityEstimator	(	double	alpha_slow,
		double	alpha_fast
	)

inlineconstexprnoexcept

Constructor.

Parameters

alpha_slow	Decay rate for the long-term average.
alpha_fast	Decay rate for the short-term average.

Definition at line 45 of file thrun_recovery_probability_estimator.hpp.

Member Function Documentation

◆ operator()()

template<class Range >

constexpr double beluga::ThrunRecoveryProbabilityEstimator::operator() ( Range && range )

inlineconstexpr

Update the estimation based on a particle range.

Parameters

range A range containing particles.

Returns: The estimated random state probability to be used by the particle filter.

Definition at line 67 of file thrun_recovery_probability_estimator.hpp.

◆ reset()

constexpr void beluga::ThrunRecoveryProbabilityEstimator::reset ( )

inlineconstexprnoexcept

Reset the internal state of the estimator.

It is recommended to reset the estimator after injecting random particles to avoid spiraling off into complete randomness.

Definition at line 56 of file thrun_recovery_probability_estimator.hpp.

Member Data Documentation

◆ fast_filter_

ExponentialFilter beluga::ThrunRecoveryProbabilityEstimator::fast_filter_

private

Exponential filter for the short-term average.

Definition at line 91 of file thrun_recovery_probability_estimator.hpp.

◆ slow_filter_

ExponentialFilter beluga::ThrunRecoveryProbabilityEstimator::slow_filter_

private

Exponential filter for the long-term average.

Definition at line 90 of file thrun_recovery_probability_estimator.hpp.

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

thrun_recovery_probability_estimator.hpp

Public Member Functions

Private Attributes