Class PFLocalizationCore

Defined in File mrpt_localization_core.h

Inheritance Relationships

Derived Type

public PFLocalization (Class PFLocalization)

Class Documentation

class PFLocalizationCore

Subclassed by PFLocalization

Public Types

enum PFStates

Values:

enumerator NA

enumerator INIT

enumerator RUN

enumerator IDLE

Public Functions

PFLocalizationCore()

~PFLocalizationCore()

void init(): Initializes the parameter with common values to acive a working filter out of the box

void observation(CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)

preprocesses an observation and calls the update PFLocalizationCore::updateFilter If the odom data is null the function will assume a dummy odometry distribution around the last pose

Parameters:

_sf – sensor observation
_odometry – the odom data can also be NULL

Protected Attributes

bool use_motion_model_default_options_: used default odom_params

CActionRobotMovement2D::TMotionModelOptions motion_model_default_options_: used if there are is not odom

CActionRobotMovement2D::TMotionModelOptions motion_model_options_: used with odom value motion noise

CMultiMetricMap::Ptr metric_map_ = CMultiMetricMap::Create(): map

mrpt::bayes::CParticleFilter pf_: common interface for particle filters

mrpt::bayes::CParticleFilter::TParticleFilterStats pf_stats_: filter statistics

mrpt::slam::CMonteCarloLocalization2D pdf_: the filter

mrpt::poses::CPosePDFGaussian initial_pose_: initial posed used in initializeFilter()

int initial_particle_count_: number of particles for initialization

mrpt::system::TTimeStamp time_last_update_: time of the last update

mrpt::system::CTicTac tictac_: timer to measure performance

size_t update_counter_: internal counter to count the number of filter

PFStates state_

updates

filter states to perform things like init on the

mrpt::poses::CPose2D odom_last_observation_

correct time

pose at the last observation

bool init_PDF_mode: Initial PDF mode: 0 for free space cells, 1 for

float init_PDF_min_x

any cell

Initial PDF boundaries

float init_PDF_max_x

float init_PDF_min_y

float init_PDF_max_y