Tekkotsu: ParticleFilter< ParticleT >::SensorModel Class Reference

Definition at line 134 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	~SensorModel ()
virtual void	evaluate (particle_collection &particles, index_t &bestIndex)=0
	once passed to the particle filter's updateSensors(), this will be called to allow the sensor model to update the 'weight' member of each particle

template<typename ParticleT>

virtual void ParticleFilter< ParticleT >::SensorModel::evaluate	(	particle_collection &	particles,
		index_t &	bestIndex
	)			`[pure virtual]`

once passed to the particle filter's updateSensors(), this will be called to allow the sensor model to update the 'weight' member of each particle

Parameters:

	particles	the current set of particles to be evaluated
`[in]`	bestIndex	on input, this will hold the index within particles of the particle with the highest weight.
`[out]`	bestIndex	on return, your function should update the parameter so it still indicates the best particle

Remember to update each particle's weight, don't overwrite it. In other words, you want to combine (e.g. add or multiply) the weight from the current sensor evaluation with the weight currently stored in each particle, don't just replace it. This is because there may be several sensor updates between resamplings so that particles can be more accurately evaluated.

Referenced by ParticleFilter< ParticleT >::updateSensors().

ParticleFilter< ParticleT >::SensorModel Class Reference

Detailed Description

template<typename ParticleT>
class ParticleFilter< ParticleT >::SensorModel

Public Types

Public Member Functions