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9 #ifndef CPARTICLEFILTER_H
10 #define CPARTICLEFILTER_H
55 pfStandardProposal = 0,
145 TParticleFilterStats *stats = NULL);
This base class provides a common printf-like method to send debug information to std::cout,...
bool adaptiveSampleSize
A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (d...
unsigned int pfAuxFilterOptimal_MaximumSearchSamples
In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStand...
Statistics for being returned from the "execute" method.
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::TParticleFilt...
TParticleFilterAlgorithm
Defines different types of particle filter algorithms.
TParticleResamplingAlgorithm
Defines the different resampling algorithms.
double powFactor
An optional step to "smooth" dramatic changes in the observation model to affect the variance of the ...
double weightsVariance_beforeResample
double max_loglikelihood_dyn_range
Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-prio...
Declares a class for storing a collection of robot actions.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
TParticleFilterAlgorithm PF_algorithm
The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilitie...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
double ESS_beforeResample
This virtual class defines the interface that any particles based PDF class must implement in order t...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
bool pfAuxFilterStandard_FirstStageWeightsMonteCarlo
Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights ...
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
double BETA
The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0....
virtual ~CParticleFilter()
unsigned int sampleSize
The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (defaul...
bool verbose
Enable extra messages for each PF iteration (Default=false)
TParticleResamplingAlgorithm resamplingMethod
The resampling algorithm to use (default=prMultinomial).
bool pfAuxFilterOptimal_MLE
(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true,...
The configuration of a particle filter.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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