Estimation::Particle< CMD, MEAS, STATE > Class Template Reference

Element of particle filter, sample of estimated state distribution. More...

#include <ParticleFilter.hpp>

List of all members.

Public Types
typedef PFMeasurementModel < MEAS, STATE >	MeasModelType
	Alias for templated measurement model type.
typedef PFCommandModel< CMD, STATE >	CmdModelType
	Alias for templated command model type.
Public Member Functions
	Particle (const STATE &s)
	Default constructor, initializes state.
	Particle (const Particle &p)
	Copy constructor.
virtual void	update (const CMD &c, CmdModelType &mdl)
	Update state according to command and model.
virtual double	computeLikelihood (const MEAS &m, MeasModelType &mdl)
	Update particle likelihood based on measurement.
double	getLikelihood () const
	Returns particle's current likelihood estiamte.
const STATE &	getState () const
	Returns particle's state hypothesis.
Protected Attributes
STATE	m_state
	State represented.
double	m_likelihood
	Current likelihood estimate.

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Detailed Description

template<typename CMD, typename MEAS, typename STATE>
class Estimation::Particle< CMD, MEAS, STATE >

Element of particle filter, sample of estimated state distribution.

Subclasses should define the state being maintained, how commands may update it, and the associated observation model for different measurements. Subclassing is only necessary, however, to override the default filtering functionality.

Definition at line 114 of file ParticleFilter.hpp.

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Member Typedef Documentation

template<typename CMD , typename MEAS , typename STATE >

typedef PFCommandModel<CMD, STATE> Estimation::Particle< CMD, MEAS, STATE >::CmdModelType

Alias for templated command model type.

Definition at line 122 of file ParticleFilter.hpp.

template<typename CMD , typename MEAS , typename STATE >

typedef PFMeasurementModel<MEAS, STATE> Estimation::Particle< CMD, MEAS, STATE >::MeasModelType

Alias for templated measurement model type.

Definition at line 120 of file ParticleFilter.hpp.

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Constructor & Destructor Documentation

template<typename CMD , typename MEAS , typename STATE >

Estimation::Particle< CMD, MEAS, STATE >::Particle

(

const STATE &

s

)

[inline]

Default constructor, initializes state.

Definition at line 125 of file ParticleFilter.hpp.

template<typename CMD , typename MEAS , typename STATE >

Estimation::Particle< CMD, MEAS, STATE >::Particle

(

const Particle< CMD, MEAS, STATE > &

p

)

[inline]

Copy constructor.

Definition at line 129 of file ParticleFilter.hpp.

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Member Function Documentation

template<typename CMD , typename MEAS , typename STATE >

virtual double Estimation::Particle< CMD, MEAS, STATE >::computeLikelihood	(	const MEAS &	m,
		MeasModelType &	mdl
	)			[inline, virtual]

Update particle likelihood based on measurement.

Parameters:

	m	measurement observed
	mdl	measurement model

Returns:

the computed measurement likelihood

Computes the likelihood of the measurement given the particle's current state under the measurement model.

Author:

Zach Pezzementi

Definition at line 160 of file ParticleFilter.hpp.

template<typename CMD , typename MEAS , typename STATE >

double Estimation::Particle< CMD, MEAS, STATE >::getLikelihood

(

)

const [inline]

Returns particle's current likelihood estiamte.

Definition at line 167 of file ParticleFilter.hpp.

template<typename CMD , typename MEAS , typename STATE >

const STATE& Estimation::Particle< CMD, MEAS, STATE >::getState

(

)

const [inline]

Returns particle's state hypothesis.

Definition at line 173 of file ParticleFilter.hpp.

template<typename CMD , typename MEAS , typename STATE >

virtual void Estimation::Particle< CMD, MEAS, STATE >::update	(	const CMD &	c,
		CmdModelType &	mdl
	)			[inline, virtual]

Update state according to command and model.

Parameters:

	c	the command issued
	mdl	model of how commands affect state

Modifies the particle's internal state to reflect the result of the command, according to the model.

Author:

Zach Pezzementi

Definition at line 143 of file ParticleFilter.hpp.

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Member Data Documentation

template<typename CMD , typename MEAS , typename STATE >

double Estimation::Particle< CMD, MEAS, STATE >::m_likelihood [protected]

Current likelihood estimate.

Definition at line 180 of file ParticleFilter.hpp.

template<typename CMD , typename MEAS , typename STATE >

STATE Estimation::Particle< CMD, MEAS, STATE >::m_state [protected]

State represented.

Definition at line 179 of file ParticleFilter.hpp.

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

• Estimation/BayesFilters/ParticleFilter/ParticleFilter.hpp