#include <FSMParticleFilter.h>

Inheritance diagram for FSMParticleFilter:

Public Member Functions
	FSMParticleFilter (const FSMParticleFilter &rhs)

virtual bool	predict (FSMParticle &p)

virtual bool	update (FSMParticle &p, VectorDouble &data)

bool	setLookupTables (Vector< Vector< IndexedDouble > > &pt, Vector< Vector< VectorDouble > > &pe)

Public Member Functions inherited from ParticleFilter< FSMParticle, VectorFloat >
	ParticleFilter ()

	ParticleFilter (const ParticleFilter &rhs)

virtual	~ParticleFilter ()

FSMParticle &	operator[] (const unsigned int &i)

const FSMParticle &	operator[] (const unsigned int &i) const

FSMParticle &	operator() (const unsigned int &i)

const FSMParticle &	operator() (const unsigned int &i) const

ParticleFilter &	operator= (const ParticleFilter &rhs)

virtual bool	init (const unsigned int numParticles, const Vector< VectorFloat > &initModel, const VectorFloat &processNoise, const VectorFloat &measurementNoise)

virtual bool	initParticles (const UINT numParticles)

virtual bool	filter (VectorFloat &data)

virtual bool	clear ()

virtual bool	reset ()

bool	getInitialized () const

unsigned int	getNumParticles () const

unsigned int	getStateVectorSize () const

unsigned int	getNumDeadParticles () const

unsigned int	getInitMode () const

unsigned int	getEstimationMode () const

Float	getEstimationLikelihood () const

Float	getWeightSum () const

VectorFloat	getStateEstimation () const

Vector< FSMParticle >	getParticles ()

Vector< FSMParticle >	getOldParticles ()

VectorFloat	setProcessNoise () const

bool	setProcessNoise (const VectorFloat &processNoise)

bool	setVerbose (const bool verbose)

bool	setNormalizeWeights (const bool normWeights)

bool	setResampleThreshold (const Float resampleThreshold)

bool	setEstimationMode (const unsigned int estimationMode)

bool	setInitMode (const unsigned int initMode)

bool	setInitModel (const Vector< VectorFloat > initModel)

bool	setMeasurementNoise (const VectorFloat &measurementNoise)

Public Attributes
Random	random

ErrorLog	errorLog

Vector< Vector< IndexedDouble > > *	pt

Vector< Vector< VectorDouble > > *	pe

Additional Inherited Members
Public Types inherited from ParticleFilter< FSMParticle, VectorFloat >
enum	InitModes

enum	EstimationModes

Protected Member Functions inherited from ParticleFilter< FSMParticle, VectorFloat >
virtual bool	normalizeWeights ()

virtual bool	computeEstimate ()

virtual bool	checkForResample ()

virtual bool	resample ()

virtual bool	preFilterUpdate (VectorFloat &data)

virtual bool	postFilterUpdate (VectorFloat &data)

Float	gauss (Float x, Float mu, Float sigma)

Float	rbf (const Float x, const Float mu, Float sigma, Float weight=1.0)

Float	rbf (const VectorFloat &x, const VectorFloat &mu, Float sigma, Float weight=1.0)

Float	SQR (const Float x)

Protected Attributes inherited from ParticleFilter< FSMParticle, VectorFloat >
bool	initialized
	A flag that indicates if the filter has been initialized.

bool	verbose
	A flag that indicates if warning and info messages should be printed.

bool	normWeights
	A flag that indicates if the weights should be normalized at each filter iteration.

unsigned int	numParticles
	The number of particles in the filter.

unsigned int	stateVectorSize
	The size of the state Vector (x)

unsigned int	initMode
	The mode used to initialize the particles, this should be one of the InitModes enums.

unsigned int	estimationMode
	The estimation mode (used to compute the state estimation)

unsigned int	numDeadParticles

Float	minimumWeightThreshold
	Any weight below this value will not be resampled.

Float	robustMeanWeightDistance
	The distance parameter used in the ROBUST_MEAN estimation mode.

Float	estimationLikelihood
	The likelihood of the estimated state.

Float	wNorm
	Stores the total weight norm value.

Float	wDotProduct
	Stores the dot product of all the weights, used to test for degeneracy.

Float	resampleThreshold
	The threshold below which the particles will be resampled.

VectorFloat	x
	The state estimation.

Vector< VectorFloat >	initModel
	The noise model for the initial starting guess.

VectorFloat	processNoise
	The noise covariance in the system.

VectorFloat	measurementNoise
	The noise covariance in the measurement.

Vector< FSMParticle > &	particles
	A reference to the current active particle Vector.

Vector< FSMParticle >	particleDistributionA
	A Vector of particles, this will either hold the particles before or after a resample.

Vector< FSMParticle >	particleDistributionB
	A Vector of particles, this will either hold the particles before or after a resample.

VectorFloat	cumsum
	The cumulative sum Vector used for resampling the particles.

Random	rand
	A random number generator.

WarningLog	warningLog

ErrorLog	errorLog

Detailed Description

GRT MIT License Copyright (c) <2012> <Nicholas Gillian, Media Lab, MIT>

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Definition at line 35 of file FSMParticleFilter.h.

Member Function Documentation

virtual bool FSMParticleFilter::predict ( FSMParticle & p )

inlinevirtual

This is the main predict function. This function must be implemented in your derived class.

Parameters

PARTICLE &p: the current particle that should be passed through your prediction code

Returns: returns true if the particle prediction was updated successfully, false otherwise

Reimplemented from ParticleFilter< FSMParticle, VectorFloat >.

Definition at line 52 of file FSMParticleFilter.h.

virtual bool FSMParticleFilter::update	(	FSMParticle &	p,
		VectorDouble &	data
	)

inlinevirtual

This is the main update function in which the weight of the particle should be computed, based on the particles current estimated state and the latest sensor data.

This function must be implemented in your derived class.

Parameters

PARTICLE	&p: the current particle
SENSOR_DATA	&data: the current sensor data

Returns: returns true if the particle update was updated successfully, false otherwise

Reimplemented from ParticleFilter< FSMParticle, VectorFloat >.

Definition at line 78 of file FSMParticleFilter.h.

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

FSMParticleFilter.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation