A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping.
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 |
|
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.
|
static |
Definition at line 47 of file PF_implementations.h.
Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ae4571287 Thu Nov 23 00:06:53 2017 +0100 at dom oct 27 23:51:55 CET 2019 |