#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <time.h>
#include "gmcl/map/map.h"
#include "gmcl/pf/pf.h"
#include "gmcl/pf/pf_pdf.h"
#include "gmcl/pf/pf_kdtree.h"
#include "portable_utils.hpp"
#include <float.h>

Include dependency graph for pf.c:

Functions
void	copy_set (pf_sample_set_t set_a, pf_sample_set_t set_b)

pf_t *	pf_alloc (int min_samples, int max_samples, int N_aux_particles, double alpha_slow, double alpha_fast, double crossover_alpha, double mutation_prob, pf_init_model_fn_t random_pose_fn, void random_pose_data, void e_random_pose_data)

void	pf_cluster_stats (pf_t pf, pf_sample_set_t set)

void	pf_free (pf_t *pf)

void	pf_get_cep_stats (pf_t pf, pf_vector_t mean, double *var)

int	pf_get_cluster_stats (pf_t pf, int clabel, double weight, pf_vector_t mean, pf_matrix_t cov)

void	pf_init (pf_t *pf, pf_vector_t mean, pf_matrix_t cov)

void	pf_init_converged (pf_t *pf)

void	pf_init_model (pf_t pf, pf_init_model_fn_t init_fn, void init_data, void *e_init_data)

void	pf_normlize_weight (pf_t *pf)

static int	pf_resample_limit (pf_t *pf, int k)

void	pf_set_model_type (pf_t pf, pf_model_type pf_model)

void	pf_set_selective_resampling (pf_t *pf, int selective_resampling)

void	pf_update_action (pf_t pf, pf_action_model_fn_t action_fn, void action_data)

int	pf_update_converged (pf_t *pf)

void	pf_update_crossover_mutation (pf_t pf, pf_reupdate_sensor_fn_t laser_fn, void laser_data)

void	pf_update_resample (pf_t *pf)

void	pf_update_sensor (pf_t pf, pf_laser_model_fn_t laser_fn, void laser_data)

Function Documentation

◆ copy_set()

void copy_set	(	pf_sample_set_t *	set_a,
		pf_sample_set_t *	set_b
	)

Definition at line 421 of file pf.c.

◆ pf_alloc()

pf_t* pf_alloc	(	int	min_samples,
		int	max_samples,
		int	N_aux_particles,
		double	alpha_slow,
		double	alpha_fast,
		double	crossover_alpha,
		double	mutation_prob,
		pf_init_model_fn_t	random_pose_fn,
		void *	random_pose_data,
		void *	e_random_pose_data
	)

Definition at line 54 of file pf.c.

◆ pf_cluster_stats()

void pf_cluster_stats	(	pf_t *	pf,
		pf_sample_set_t *	set
	)

Definition at line 814 of file pf.c.

◆ pf_free()

void pf_free ( pf_t * pf )

Definition at line 131 of file pf.c.

◆ pf_get_cep_stats()

void pf_get_cep_stats	(	pf_t *	pf,
		pf_vector_t *	mean,
		double *	var
	)

Definition at line 1078 of file pf.c.

◆ pf_get_cluster_stats()

int pf_get_cluster_stats	(	pf_t *	pf,
		int	clabel,
		double *	weight,
		pf_vector_t *	mean,
		pf_matrix_t *	cov
	)

Definition at line 1114 of file pf.c.

◆ pf_init()

void pf_init	(	pf_t *	pf,
		pf_vector_t	mean,
		pf_matrix_t	cov
	)

Definition at line 152 of file pf.c.

◆ pf_init_converged()

void pf_init_converged ( pf_t * pf )

Definition at line 268 of file pf.c.

◆ pf_init_model()

void pf_init_model	(	pf_t *	pf,
		pf_init_model_fn_t	init_fn,
		void *	init_data,
		void *	e_init_data
	)

Definition at line 214 of file pf.c.

◆ pf_normlize_weight()

void pf_normlize_weight ( pf_t * pf )

Definition at line 322 of file pf.c.

◆ pf_resample_limit()

int pf_resample_limit	(	pf_t *	pf,
		int	k
	)

static

Definition at line 770 of file pf.c.

◆ pf_set_model_type()

void pf_set_model_type	(	pf_t *	pf,
		pf_model_type *	pf_model
	)

Definition at line 1043 of file pf.c.

◆ pf_set_selective_resampling()

void pf_set_selective_resampling	(	pf_t *	pf,
		int	selective_resampling
	)

Definition at line 1072 of file pf.c.

◆ pf_update_action()

void pf_update_action	(	pf_t *	pf,
		pf_action_model_fn_t	action_fn,
		void *	action_data
	)

Definition at line 309 of file pf.c.

◆ pf_update_converged()

int pf_update_converged ( pf_t * pf )

Definition at line 275 of file pf.c.

◆ pf_update_crossover_mutation()

void pf_update_crossover_mutation	(	pf_t *	pf,
		pf_reupdate_sensor_fn_t	laser_fn,
		void *	laser_data
	)

Definition at line 689 of file pf.c.

◆ pf_update_resample()

void pf_update_resample ( pf_t * pf )

Definition at line 482 of file pf.c.

◆ pf_update_sensor()

void pf_update_sensor	(	pf_t *	pf,
		pf_laser_model_fn_t	laser_fn,
		void *	laser_data
	)

Definition at line 329 of file pf.c.

Functions