mrpt::slam::AuxPFStandardEvaluator Class Reference

Detailed Description

Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.

Parameters

action	MUST be a "const mrpt::poses::CPose3D*"
observation	MUST be a "const CSensoryFrame*"

Definition at line 325 of file PF_implementations.h.

#include <mrpt/slam/PF_implementations.h>

Static Public Member Functions
template<class BINTYPE , class MYSELF >
static double	evaluate (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, unsigned long index, const mrpt::poses::CPose3D *action, const mrpt::obs::CSensoryFrame *observation, const MYSELF &me)

Member Function Documentation

evaluate()

template<class BINTYPE , class MYSELF >

static double mrpt::slam::AuxPFStandardEvaluator::evaluate ( const mrpt::bayes::CParticleFilter::TParticleFilterOptions &  PF_options, unsigned long  index, const mrpt::poses::CPose3D *  action, const mrpt::obs::CSensoryFrame *  observation, const MYSELF &  me  )

inlinestatic

Definition at line 329 of file PF_implementations.h.

References ASSERT_, mrpt::math::averageLogLikelihood(), mrpt::poses::CPose3D::composeFrom(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_START, mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples, mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterStandard_FirstStageWeightsMonteCarlo.

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