ParticleFilter Class Reference

Inheritance diagram for ParticleFilter:

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Collaboration diagram for ParticleFilter:

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List of all members.

Classes
struct	GraphicsFlags
struct	InitializationState
struct	Particle
struct	SensorFlags
struct	SimulationState
Public Member Functions
	ParticleFilter (int numStates, int numObservations, int numParticles)
virtual Image< double >	getNextState (const Image< double > &X)=0
	The function to move from one state to another (need to be implemented).
virtual Image< double >	getObservation (const Image< double > &X)=0
	The function to predict the observation from the current state.
void	predictState ()
	Predict the next state and covariance.
int	pickParticleToSample (void)
double	getLikelihood (const Image< double > &z, const Image< double > &X)
void	predictObservation ()
	Predict the observations.
void	update (const Image< double > &z)
	Update the state and covariance given the observation z.
double	gaussianRand (void)
double	uniformRandom (void)
	ParticleFilter (int id, OptionManager &mgr, XBox360RemoteControlI *controller, const std::string &descrName="ParticleFilter", const std::string &tagName="ParticleFilter")
	Constructor.
	~ParticleFilter ()
	Destructor.
virtual void	evolve ()
	Main run loop.
virtual void	updateMessage (const RobotSimEvents::EventMessagePtr &eMsg, const Ice::Current &)
	Get a message.
virtual void	registerTopics ()
	Component registers itself as publisher/subscriber to topic(s).
void	simulateMovement (int mode, int movementMode, RobotSimEvents::BeeStemMotorControllerMessagePtr &msg)
void	startSimulation ()
void	stopSimulation ()
void	disableSimulation ()
Static Public Member Functions
static void	getMotorControllerMsg (RobotSimEvents::BeeStemMotorControllerMessagePtr &msg, int mc0, int mc1, int mc2, int mc3, int mc4, int mc5, int mc6, int mc7, int mc8)
Protected Attributes
int	itsNumStates
int	itsNumObservations
std::vector< Particle >	itsParticles

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Detailed Description

Definition at line 48 of file ParticleFilter.H.

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Constructor & Destructor Documentation

ParticleFilter::ParticleFilter	(	int	id,
		OptionManager &	mgr,
		XBox360RemoteControlI *	controller,
		const std::string &	descrName = "ParticleFilter",
		const std::string &	tagName = "ParticleFilter"
	)

Constructor.

Definition at line 31 of file ParticleFilter.C.

References ModelComponent::addSubComponent().

ParticleFilter::~ParticleFilter

(

)

Destructor.

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Member Function Documentation

void ParticleFilter::evolve

(

)

[virtual]

Main run loop.

Reimplemented from RobotBrainComponent.

Definition at line 989 of file ParticleFilter.C.

References OModelParam< T >::getVal(), and RobotBrainComponent::publish().

virtual Image<double> ParticleFilter::getNextState

(

const Image< double > &

X

)

[pure virtual]

The function to move from one state to another (need to be implemented).

Implemented in ParticleTracker.

Referenced by predictState().

virtual Image<double> ParticleFilter::getObservation

(

const Image< double > &

X

)

[pure virtual]

The function to predict the observation from the current state.

Implemented in ParticleTracker.

void ParticleFilter::predictObservation

(

)

Predict the observations.

void ParticleFilter::predictState

(

)

Predict the next state and covariance.

Definition at line 71 of file ParticleFilter.C.

References getNextState().

void ParticleFilter::registerTopics

(

)

[virtual]

Component registers itself as publisher/subscriber to topic(s).

Reimplemented from RobotBrainComponent.

Definition at line 303 of file ParticleFilter.C.

References OModelParam< T >::getVal(), RobotBrainComponent::registerPublisher(), and RobotBrainComponent::registerSubscription().

void ParticleFilter::update

(

const Image< double > &

z

)

Update the state and covariance given the observation z.

Definition at line 126 of file ParticleFilter.C.

void ParticleFilter::updateMessage	(	const RobotSimEvents::EventMessagePtr &	eMsg,
		const Ice::Current &
	)			[virtual]

Get a message.

Reimplemented from RobotBrainComponent.

Definition at line 1132 of file ParticleFilter.C.

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

• src/BayesFilters/ParticleFilter.H
• src/Robots/SeaBeeIII/ParticleFilter.H
• src/BayesFilters/ParticleFilter.C
• src/Robots/SeaBeeIII/ParticleFilter.C