Detailed Description

Definition at line 27 of file vision_stereo_rectify/test.cpp.

Inheritance diagram for CMyRejectionSampling:

Public Types
using	TParticle = CProbabilityParticle< CPose2D, mrpt::bayes::particle_storage_mode::POINTER >

Public Member Functions
void	rejectionSampling (size_t desiredSamples, std::vector< TParticle > &outSamples, size_t timeoutTrials=1000)
	Generates a set of N independent samples via rejection sampling. More...

Protected Member Functions
void	RS_drawFromProposal (CPose2D &outSample)

double	RS_observationLikelihood (const CPose2D &x)
	Returns the NORMALIZED observation likelihood at a given point of the state space (values in the range [0,1]). More...

virtual void	RS_drawFromProposal (CPose2D &outSample)=0
	Generates one sample, drawing from some proposal distribution. More...

virtual double	RS_observationLikelihood (const CPose2D &x)=0
	Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). More...

Member Typedef Documentation

◆ TParticle

using mrpt::bayes::CRejectionSamplingCapable< CPose2D , mrpt::bayes::particle_storage_mode::POINTER >::TParticle = CProbabilityParticle<CPose2D ,mrpt::bayes::particle_storage_mode::POINTER >

inherited

Definition at line 33 of file CRejectionSamplingCapable.h.

Member Function Documentation

◆ rejectionSampling()

void mrpt::bayes::CRejectionSamplingCapable< CPose2D , mrpt::bayes::particle_storage_mode::POINTER >::rejectionSampling	(	size_t	desiredSamples,
		std::vector< TParticle > &	outSamples,
		size_t	timeoutTrials = `1000`
	)

inlineinherited

Generates a set of N independent samples via rejection sampling.

Parameters

desiredSamples	The number of desired samples to generate
outSamples	The output samples.
timeoutTrials	The maximum number of rejection trials for each generated sample (i.e. the maximum number of iterations). This can be used to set a limit to the time complexity of the algorithm for difficult probability densities. All will have equal importance weights (a property of rejection sampling), although those samples generated at timeout will have a different importance weights.

Definition at line 49 of file CRejectionSamplingCapable.h.

References ASSERT_, mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::bayes::CRejectionSamplingCapable< TStateSpace, STORAGE >::RS_drawFromProposal(), and mrpt::bayes::CRejectionSamplingCapable< TStateSpace, STORAGE >::RS_observationLikelihood().

◆ RS_drawFromProposal() [1/2]

void CMyRejectionSampling::RS_drawFromProposal ( CPose2D & outSample )

inlineprotected

Definition at line 30 of file vision_stereo_rectify/test.cpp.

◆ RS_drawFromProposal() [2/2]

virtual void mrpt::bayes::CRejectionSamplingCapable< CPose2D , mrpt::bayes::particle_storage_mode::POINTER >::RS_drawFromProposal ( CPose2D & outSample )

protectedpure virtualinherited

Generates one sample, drawing from some proposal distribution.

◆ RS_observationLikelihood() [1/2]

double CMyRejectionSampling::RS_observationLikelihood ( const CPose2D & x )

inlineprotected

Returns the NORMALIZED observation likelihood at a given point of the state space (values in the range [0,1]).

Definition at line 42 of file vision_stereo_rectify/test.cpp.

◆ RS_observationLikelihood() [2/2]

virtual double mrpt::bayes::CRejectionSamplingCapable< CPose2D , mrpt::bayes::particle_storage_mode::POINTER >::RS_observationLikelihood ( const CPose2D & x )