mrpt::slam::StandardProposal Class Reference

Detailed Description

A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping.

• BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

Definition at line 44 of file PF_implementations.h.

#include <mrpt/slam/PF_implementations.h>

Static Public Member Functions
template<class PARTICLE_TYPE , class MYSELF , class BINTYPE >
static void	PF_SLAM_implementation (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options, MYSELF &me)

Static Public Attributes
static constexpr bool	DoesResampling = true

Member Function Documentation

PF_SLAM_implementation()

template<class PARTICLE_TYPE , class MYSELF , class BINTYPE >

static void mrpt::slam::StandardProposal::PF_SLAM_implementation ( const mrpt::obs::CActionCollection *  actions, const mrpt::obs::CSensoryFrame *  sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &  PF_options, const TKLDParams &  KLD_options, MYSELF &  me  )

inlinestatic

Definition at line 50 of file PF_implementations.h.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, mrpt::math::chi2inv(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::poses::CPose3DPDFGaussian::getMean(), mrpt::slam::TKLDParams::KLD_delta, mrpt::slam::TKLDParams::KLD_epsilon, mrpt::slam::TKLDParams::KLD_maxSampleSize, mrpt::slam::TKLDParams::KLD_minSampleSize, MRPT_END, MRPT_START, mrpt::obs::CActionRobotMovement3D::poseChange, mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor, mrpt::utils::round(), and THROW_EXCEPTION.

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Member Data Documentation

DoesResampling

constexpr bool mrpt::slam::StandardProposal::DoesResampling = true

static

Definition at line 47 of file PF_implementations.h.