mrpt::bayes::CProbabilityParticle< T > Struct Template Reference

Detailed Description

template<class T>
struct mrpt::bayes::CProbabilityParticle< T >

A template class for holding a the data and the weight of a particle.

Particles are composed of two parts:

• A state vector descritor, which in this case can be any user defined CSerializable class
• A (logarithmic) weight value.

This structure is used within CParticleFilterData, see that class for more information.

Definition at line 29 of file CProbabilityParticle.h.

#include <mrpt/bayes/CProbabilityParticle.h>

Public Member Functions
	CProbabilityParticle ()
	Default constructor. More...

Public Attributes
mrpt::utils::copy_ptr< T >	d
	The data associated with this particle. More...
double	log_w
	The (logarithmic) weight value for this particle. More...

Constructor & Destructor Documentation

CProbabilityParticle()

template<class T >

mrpt::bayes::CProbabilityParticle< T >::CProbabilityParticle ( )

inline

Default constructor.

Definition at line 39 of file CProbabilityParticle.h.

Member Data Documentation

d

template<class T >

mrpt::utils::copy_ptr<T> mrpt::bayes::CProbabilityParticle< T >::d

The data associated with this particle.

The use of copy_ptr<> allows relying on compiler-generated copy ctor, etc.

Definition at line 34 of file CProbabilityParticle.h.

Referenced by mrpt::poses::CPosePDFParticles::append(), mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update().

log_w

template<class T >

double mrpt::bayes::CProbabilityParticle< T >::log_w

The (logarithmic) weight value for this particle.

Definition at line 36 of file CProbabilityParticle.h.

Referenced by mrpt::poses::CPosePDFParticles::append(), and mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update().