mrpt::bayes::detail Namespace Reference

Detailed Description

Auxiliary functions, for internal usage of MRPT classes.

Functions
template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
size_t	getNumberOfLandmarksInMap (const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > &obj)
template<size_t VEH_SIZE, size_t OBS_SIZE, size_t ACT_SIZE, typename KFTYPE >
size_t	getNumberOfLandmarksInMap (const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE > &obj)
template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
bool	isMapEmpty (const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > &obj)
template<size_t VEH_SIZE, size_t OBS_SIZE, size_t ACT_SIZE, typename KFTYPE >
bool	isMapEmpty (const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE > &obj)
template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
void	addNewLandmarks (CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > &obj, const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::vector_KFArray_OBS &Z, const std::vector< int > &data_association, const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_OxO &R)
template<size_t VEH_SIZE, size_t OBS_SIZE, size_t ACT_SIZE, typename KFTYPE >
void	addNewLandmarks (CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE > &obj, const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE >::vector_KFArray_OBS &Z, const std::vector< int > &data_association, const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE >::KFMatrix_OxO &R)

Function Documentation

addNewLandmarks() [1/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >

void mrpt::bayes::detail::addNewLandmarks	(	CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > &	obj,
		const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::vector_KFArray_OBS &	Z,
		const std::vector< int > &	data_association,
		const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_OxO &	R
	)

Definition at line 993 of file CKalmanFilterCapable_impl.h.

References ASSERTDEB_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::system::CTimeLogger::enter(), mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getProfiler(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::internal_getPkk(), mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::internal_getXkk(), mrpt::system::CTimeLogger::leave(), mrpt::math::multiply_HCHt(), mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnInverseObservationModel(), mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnNewLandmarkAddedToMap(), R, mrpt::math::CVectorDynamic< T >::resize(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::math::CVectorDynamic< T >::size().

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

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addNewLandmarks() [2/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t ACT_SIZE, typename KFTYPE >

void mrpt::bayes::detail::addNewLandmarks	(	CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE > &	obj,
		const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE >::vector_KFArray_OBS &	Z,
		const std::vector< int > &	data_association,
		const typename CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE >::KFMatrix_OxO &	R
	)

Definition at line 1104 of file CKalmanFilterCapable_impl.h.

getNumberOfLandmarksInMap() [1/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >

size_t mrpt::bayes::detail::getNumberOfLandmarksInMap ( const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > &  obj )

inline

Definition at line 1121 of file CKalmanFilterCapable_impl.h.

References mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getStateVectorLength().

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getNumberOfLandmarksInTheMap().

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getNumberOfLandmarksInMap() [2/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t ACT_SIZE, typename KFTYPE >

size_t mrpt::bayes::detail::getNumberOfLandmarksInMap ( const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE > &  obj )

inline

Definition at line 1129 of file CKalmanFilterCapable_impl.h.

isMapEmpty() [1/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >

bool mrpt::bayes::detail::isMapEmpty ( const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > &  obj )

inline

Definition at line 1139 of file CKalmanFilterCapable_impl.h.

References mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getStateVectorLength().

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::isMapEmpty().

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isMapEmpty() [2/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t ACT_SIZE, typename KFTYPE >

bool mrpt::bayes::detail::isMapEmpty ( const CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, 0, ACT_SIZE, KFTYPE > &  obj )

inline

Definition at line 1147 of file CKalmanFilterCapable_impl.h.