Gaussian observation model. More...
#include <ParticleFilter1D.hpp>
Public Member Functions | |
| PF1DObsModel (double var=0.3) | |
| Default constructor. | |
| double | getLikelihood (const double &measurement, const double &stateEst) |
| Get measurement likelihood. | |
| double | getVariance () const |
| Get Gaussian variance. | |
| void | setVariance (double v) |
| Set Gaussian variance. | |
Detailed Description
Gaussian observation model.
Likelihood of a measurement given a state varies as a Gaussian, with mean centered at the state and variance as set. The measurement tells the object position, corrupted by some noise.
Definition at line 79 of file ParticleFilter1D.hpp.
Constructor & Destructor Documentation
| Estimation::PF1DObsModel::PF1DObsModel | ( | double | var = 0.3 |
) | [inline] |
Default constructor.
- Parameters:
-
var variance
Sets variance of Gaussian
Definition at line 88 of file ParticleFilter1D.hpp.
Member Function Documentation
| double Estimation::PF1DObsModel::getLikelihood | ( | const double & | measurement, | |
| const double & | stateEst | |||
| ) | [inline, virtual] |
Get measurement likelihood.
- Parameters:
-
measurement the observed measurement stateEst hypothesized state
- Returns:
- likelihood of observation, given state
Computes the likelihood of the measurement given the state estimate under the Gaussian model.
Implements Estimation::PFMeasurementModel< double, double >.
Definition at line 103 of file ParticleFilter1D.hpp.
| double Estimation::PF1DObsModel::getVariance | ( | ) | const [inline] |
Get Gaussian variance.
Definition at line 110 of file ParticleFilter1D.hpp.
| void Estimation::PF1DObsModel::setVariance | ( | double | v | ) | [inline] |
Set Gaussian variance.
Definition at line 113 of file ParticleFilter1D.hpp.
The documentation for this class was generated from the following file:
- example/ParticleFilter1D.hpp
