This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilterAlgorithm) any bayes::CParticleFilterCapable class can implement: it is the invoker of particle filter algorithms. More...
#include <mrpt/bayes/CParticleFilter.h>
Classes | |
struct | TParticleFilterOptions |
The configuration of a particle filter. More... | |
struct | TParticleFilterStats |
Statistics for being returned from the "execute" method. More... | |
Public Types | |
enum | TParticleFilterAlgorithm { pfStandardProposal = 0, pfAuxiliaryPFStandard, pfOptimalProposal, pfAuxiliaryPFOptimal } |
Defines different types of particle filter algorithms. More... | |
enum | TParticleResamplingAlgorithm { prMultinomial = 0, prResidual, prStratified, prSystematic } |
Defines the different resampling algorithms. More... | |
Public Member Functions | |
CParticleFilter () | |
Default constructor. | |
virtual | ~CParticleFilter () |
void | executeOn (CParticleFilterCapable &obj, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, TParticleFilterStats *stats=NULL) |
Executes a complete prediction + update step of the selected particle filtering algorithm. | |
Public Attributes | |
CParticleFilter::TParticleFilterOptions | m_options |
The options to be used in the PF, must be set before executing any step of the particle filter. |
This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilterAlgorithm) any bayes::CParticleFilterCapable class can implement: it is the invoker of particle filter algorithms.
The particle filter is executed on a probability density function (PDF) described by a CParticleFilterCapable object, passed in the constructor or alternatively through the CParticleFilter::executeOn method.
For a complete example and further details, see the Particle Filter tutorial.
The basic SIR algorithm (pfStandardProposal) consists of:
Definition at line 63 of file CParticleFilter.h.
Defines different types of particle filter algorithms.
The defined SIR implementations are:
See the theoretical discussion in resampling schemes.
Definition at line 76 of file CParticleFilter.h.
Defines the different resampling algorithms.
The implemented resampling methods are:
See the theoretical discussion in resampling schemes.
Definition at line 93 of file CParticleFilter.h.
mrpt::bayes::CParticleFilter::CParticleFilter | ( | ) |
Default constructor.
After creating the PF object, set the options in CParticleFilter::m_options, then execute steps through CParticleFilter::executeOn.
virtual mrpt::bayes::CParticleFilter::~CParticleFilter | ( | ) | [inline, virtual] |
Definition at line 171 of file CParticleFilter.h.
void mrpt::bayes::CParticleFilter::executeOn | ( | CParticleFilterCapable & | obj, | |
const mrpt::slam::CActionCollection * | action, | |||
const mrpt::slam::CSensoryFrame * | observation, | |||
TParticleFilterStats * | stats = NULL | |||
) |
Executes a complete prediction + update step of the selected particle filtering algorithm.
The member CParticleFilter::m_options must be set before calling this to settle the algorithm parameters.
obj | The object representing the probability distribution function (PDF) which apply the particle filter algorithm to. | |
action | A pointer to an action in the form of a CActionCollection, or NULL if there is no action. | |
observation | A pointer to observations in the form of a CSensoryFrame, or NULL if there is no observation. | |
stats | An output structure for gathering statistics of the particle filter execution, or set to NULL if you do not need it (see CParticleFilter::TParticleFilterStats). |
The options to be used in the PF, must be set before executing any step of the particle filter.
Definition at line 192 of file CParticleFilter.h.
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