9 #ifndef CPARTICLEFILTER_H
10 #define CPARTICLEFILTER_H
55 pfStandardProposal = 0,
This virtual class defines the interface that any particles based PDF class must implement in order t...
This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilt...
CParticleFilter()
Default constructor.
CParticleFilter::TParticleFilterOptions m_options
The options to be used in the PF, must be set before executing any step of the particle filter.
TParticleResamplingAlgorithm
Defines the different resampling algorithms.
virtual ~CParticleFilter()
TParticleFilterAlgorithm
Defines different types of particle filter algorithms.
void executeOn(CParticleFilterCapable &obj, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, TParticleFilterStats *stats=NULL)
Executes a complete prediction + update step of the selected particle filtering algorithm.
Declares a class for storing a collection of robot actions.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This class allows loading and storing values and vectors of different types from a configuration text...
This base class provides a common printf-like method to send debug information to std::cout,...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The configuration of a particle filter.
bool pfAuxFilterStandard_FirstStageWeightsMonteCarlo
Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights ...
TParticleResamplingAlgorithm resamplingMethod
The resampling algorithm to use (default=prMultinomial).
bool verbose
Enable extra messages for each PF iteration (Default=false)
unsigned int pfAuxFilterOptimal_MaximumSearchSamples
In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStand...
TParticleFilterOptions()
Initilization of default parameters.
double powFactor
An optional step to "smooth" dramatic changes in the observation model to affect the variance of the ...
double max_loglikelihood_dyn_range
Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-prio...
TParticleFilterAlgorithm PF_algorithm
The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilitie...
bool pfAuxFilterOptimal_MLE
(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true,...
double BETA
The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0....
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
bool adaptiveSampleSize
A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (d...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
unsigned int sampleSize
The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (defaul...
Statistics for being returned from the "execute" method.
double ESS_beforeResample
double weightsVariance_beforeResample