ParticleFilter< ParticleT >::MotionModel Class Reference
#include <ParticleFilter.h>
Inheritance diagram for ParticleFilter< ParticleT >::MotionModel:
Detailed Description
template<typename ParticleT>
class ParticleFilter< ParticleT >::MotionModel
A motion model is retained by the particle filter to query before evaluating sensor measurements so all known influences are accounted for before testing the particles.
It's a good idea to apply noise to the motion model depending on the precision of the model. This allows the particle cluster to spread over time until new information is obtained to to evaluate how accurate the motion really was, at which point resampling will collapse the cluster back down again.
Definition at line 159 of file ParticleFilter.h.
Public Types | |
| typedef ParticleT | particle_type |
| redefinition here allows reference to the particle type even if the template parameter may be abstracted away due to a typedef | |
| typedef std::vector< particle_type > | particle_collection |
| the collection type we'll be using to store the particles | |
| typedef particle_collection::size_type | index_t |
| index type for refering to particles within the collection | |
Public Member Functions | |
| virtual | ~MotionModel () |
| virtual void | updateMotion (particle_collection &particles)=0 |
| The particle filter will call these when it wants to update particle state values to account for known influences. | |
Member Function Documentation
template<typename ParticleT>
| virtual void ParticleFilter< ParticleT >::MotionModel::updateMotion | ( | particle_collection & | particles | ) | [pure virtual] |
The particle filter will call these when it wants to update particle state values to account for known influences.
See the class notes regarding the usefulness of adding noise to the control parameters (or their effects)
Referenced by ParticleFilter< ParticleT >::updateMotion().
The documentation for this class was generated from the following file:
