LoParticleFilter.C File Reference

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Detailed Description

Combine multiple LGMD spike trains to determine the current location of obstacles in the environment using a (Bayesian) particle filter.

Definition in file LoParticleFilter.C.

#include "Robots/LoBot/intalgo/pf/LoParticleFilter.H"
#include "Util/MathFunctions.H"
#include "Util/log.H"
#include <iomanip>
#include <sstream>
#include <ostream>
#include <numeric>
#include <algorithm>
#include <functional>
#include <string>
#include <list>
#include <utility>
#include <cmath>

Include dependency graph for LoParticleFilter.C:

Go to the source code of this file.

Namespaces
namespace	lobot
Classes
class	mean_square
Functions
static double	expected_spike_rate (double t)
static double	prob2 (double S)
static double	likelihood (double actual_spike_rate, double time_to_impact)
static double	mean (const std::vector< double > &v)
static double	stdev (const std::vector< double > &v)
static std::ostream &	lobot::operator<< (std::ostream &os, const Particle &p)
static bool	lobot::all_guns_blazing (const Particle &p)
static std::string	lobot::dump (const std::list< const LocustModel * > &locusts)
static std::string	lobot::dump (const Particle &p)
static std::string	lobot::dump_expected_rates (const Particle &p)
static Particle	lobot::doctored (const Particle &P, const std::vector< const LocustModel * > locusts)
Variables
static const double	SPIKE_RATE_STDEV = 50
static const double	L_OVER_V = 0.05
static const double	ALPHA = 2.00
static const double	DELTA = 0.05
const int	PARTICLE_RANDOMIZE_INTERVAL = 1
const double	WEIGHTS_STDEV_RESAMPLING_THRESHOLD = 0.00

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