vpLandmarksGrid Class Reference

Public Member Functions
	vpLandmarksGrid (const std::vector< vpLandmarkMeasurements > &landmarks)
vpColVector	state_to_measurement (const vpColVector &chi)
vpColVector	measureGT (const vpColVector &pos)
vpColVector	measureWithNoise (const vpColVector &pos)
	vpLandmarksGrid (const std::vector< vpLandmarkMeasurements > &landmarks, const double &distMaxAllowed)
vpColVector	state_to_measurement (const vpColVector &particle)
vpColVector	measureGT (const vpColVector &pos)
vpColVector	measureWithNoise (const vpColVector &pos)
void	computePositionFromMeasurements (const vpColVector &meas, double &x, double &y)
double	likelihood (const vpColVector &particle, const vpColVector &meas)

Detailed Description

Class that represent a grid of landmarks that measure the distance and relative orientation of the 4-wheel robot.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 461 of file ukf-nonlinear-complex-example.cpp.

Constructor & Destructor Documentation

vpLandmarksGrid() [1/2]

vpLandmarksGrid::vpLandmarksGrid ( const std::vector< vpLandmarkMeasurements > & landmarks )

inline

Construct a new vpLandmarksGrid object.

Parameters

landmarks

The list of landmarks forming the grid.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 469 of file ukf-nonlinear-complex-example.cpp.

vpLandmarksGrid() [2/2]

vpLandmarksGrid::vpLandmarksGrid ( const std::vector< vpLandmarkMeasurements > & landmarks, const double & distMaxAllowed )

inline

Construct a new vpLandmarksGrid object.

Parameters

[in]	landmarks	The list of landmarks forming the grid.
[in]	distMaxAllowed	Maximum distance allowed for the likelihood computation.

Definition at line 472 of file pf-nonlinear-complex-example.cpp.

Member Function Documentation

computePositionFromMeasurements()

void vpLandmarksGrid::computePositionFromMeasurements ( const vpColVector & meas, double & x, double & y )

inline

Compute the position that corresponds to a measurement. As the measurements can be noisy, we take the average position computed for each landmark individually.

Parameters

[in]	meas	The measurement vector.
[out]	x	The X-coordinate that corresponds to the measurement.
[out]	y	The Y-coordinate that corresponds to the measurement.

Examples

pf-nonlinear-complex-example.cpp.

Definition at line 546 of file pf-nonlinear-complex-example.cpp.

Referenced by likelihood().

likelihood()

double vpLandmarksGrid::likelihood ( const vpColVector & particle, const vpColVector & meas )

inline

Compute the likelihood of a particle (value between 0. and 1.) knowing the measurements. The likelihood is computed using a Gaussian function that penalizes a particle whose position is "far" from the average position computed from the landmarks measurement.

Parameters

[in]	particle	The particle state.
[in]	meas	The measurements.

Returns

double The likelihood of a particle (value between 0. and 1.)

Examples

pf-nonlinear-complex-example.cpp.

Definition at line 572 of file pf-nonlinear-complex-example.cpp.

References computePositionFromMeasurements(), and likelihood().

Referenced by likelihood().

measureGT() [1/2]

vpColVector vpLandmarksGrid::measureGT ( const vpColVector & pos )

inline

Perfect measurement from each landmark of the range and relative orientation of the robot located at pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x, pos[1]: y, pos[2] = heading).

Returns

vpColVector n x ([0] the range [1] the relative orientation of the robot), where n is the number of landmarks.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 499 of file ukf-nonlinear-complex-example.cpp.

measureGT() [2/2]

vpColVector vpLandmarksGrid::measureGT ( const vpColVector & pos )

inline

Perfect measurement from each landmark of the range and relative orientation of the robot located at pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x, pos[1]: y, pos[2] = heading).

Returns

vpColVector n x ([0] the range [1] the relative orientation of the robot), where n is the number of landmarks.

Definition at line 507 of file pf-nonlinear-complex-example.cpp.

measureWithNoise() [1/2]

vpColVector vpLandmarksGrid::measureWithNoise ( const vpColVector & pos )

inline

Noisy measurement from each landmark of the range and relative orientation that correspond to pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x ; pos[1] = y ; pos[2] = heading).

Returns

vpColVector n x ([0] the range [1] the relative orientation of the robot), where n is the number of landmarks.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 519 of file ukf-nonlinear-complex-example.cpp.

measureWithNoise() [2/2]

vpColVector vpLandmarksGrid::measureWithNoise ( const vpColVector & pos )

inline

Noisy measurement from each landmark of the range and relative orientation that correspond to pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x ; pos[1] = y ; pos[2] = heading).

Returns

vpColVector n x ([0] the range [1] the relative orientation of the robot), where n is the number of landmarks.

Definition at line 526 of file pf-nonlinear-complex-example.cpp.

state_to_measurement() [1/2]

vpColVector vpLandmarksGrid::state_to_measurement ( const vpColVector & chi )

inline

Convert the prior of the UKF into the measurement space.

Parameters

[in]

chi

The prior.

Returns

vpColVector The prior expressed in the measurement space.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 479 of file ukf-nonlinear-complex-example.cpp.

state_to_measurement() [2/2]

vpColVector vpLandmarksGrid::state_to_measurement ( const vpColVector & particle )

inline

Convert a particle of the Particle Filter into the measurement space.

Parameters

[in]

particle

The prior.

Returns

vpColVector The prior expressed in the measurement space.

Definition at line 488 of file pf-nonlinear-complex-example.cpp.