mrpt::bayes::CParticleFilterData Class Reference

---

Detailed Description

This template class declares the array of particles and its internal data, managing some memory-related issues and providing an easy implementation of virtual methods required for implementing a CParticleFilterCapable.

By adding IMPLEMENT_PARTICLE_FILTER_CAPABLE(T) to the body of the declaration of classes inheriting from both CParticleFilterData and CParticleFilterCapable, the following pure virtual methods are automatically implemented (the param T must be equal to the argument of the template CParticleFilterData).

• CParticleFilterCapable::getW
• CParticleFilterCapable::setW
• CParticleFilterCapable::particlesCount
• CParticleFilterCapable::normalizeWeights
• CParticleFilterCapable::ESS
• CParticleFilterCapable::performSubstitution

Since CProbabilityParticle implements all the required operators, the member "m_particles" can be safely copied with "=" or copy constructor operators and new objects will be created internally instead of copying the internal pointers, which would lead to memory corruption.

See also:

CParticleFilter, CParticleFilterCapable, IMPLEMENT_PARTICLE_FILTER_CAPABLE

#include <mrpt/bayes/CParticleFilterData.h>

Inheritance diagram for mrpt::bayes::CParticleFilterData:

List of all members.

Public Types
typedef T	CParticleDataContent
	This is the type inside the corresponding CParticleData class.
typedef CProbabilityParticle< T >	CParticleData
	Use this to refer to each element in the m_particles array.
typedef std::deque< CParticleData >	CParticleList
	Use this type to refer to the list of particles m_particles.
Public Member Functions
	CParticleFilterData ()
	Default constructor.
void	clearParticles ()
	Free the memory of all the particles and reset the array "m_particles" to length zero.
virtual	~CParticleFilterData ()
	Virtual destructor.
void	writeParticlesToStream (utils::CStream &out) const
	Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
void	readParticlesFromStream (utils::CStream &in)
	Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
void	getWeights (vector_double &out_logWeights) const
	Returns a vector with the sequence of the logaritmic weights of all the samples.
const CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight.
Public Attributes
CParticleList	m_particles
	The array of particles.

---

Member Typedef Documentation

typedef CProbabilityParticle<T> mrpt::bayes::CParticleFilterData::CParticleData

Use this to refer to each element in the m_particles array.

Definition at line 61 of file CParticleFilterData.h.

typedef T mrpt::bayes::CParticleFilterData::CParticleDataContent

This is the type inside the corresponding CParticleData class.

Definition at line 60 of file CParticleFilterData.h.

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData::CParticleList

Use this type to refer to the list of particles m_particles.

Definition at line 62 of file CParticleFilterData.h.

---

Constructor & Destructor Documentation

mrpt::bayes::CParticleFilterData::CParticleFilterData

(

)

[inline]

Default constructor.

Definition at line 67 of file CParticleFilterData.h.

virtual mrpt::bayes::CParticleFilterData::~CParticleFilterData

(

)

[inline, virtual]

Virtual destructor.

Definition at line 83 of file CParticleFilterData.h.

---

Member Function Documentation

void mrpt::bayes::CParticleFilterData::clearParticles

(

)

[inline]

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 72 of file CParticleFilterData.h.

Referenced by mrpt::bayes::CParticleFilterData< CRBPFParticleData >::~CParticleFilterData(), and mrpt::bayes::CParticleFilterData< CRBPFParticleData >::readParticlesFromStream().

const CParticleData* mrpt::bayes::CParticleFilterData::getMostLikelyParticle

(

)

const [inline]

Returns the particle with the highest weight.

Reimplemented in mrpt::poses::CPosePDFParticles, and mrpt::poses::CPose3DPDFParticles.

Definition at line 140 of file CParticleFilterData.h.

void mrpt::bayes::CParticleFilterData::getWeights

(

vector_double &

out_logWeights

)

const [inline]

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 127 of file CParticleFilterData.h.

void mrpt::bayes::CParticleFilterData::readParticlesFromStream

(

utils::CStream &

in

)

[inline]

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See also:

writeParticlesToStream

Definition at line 107 of file CParticleFilterData.h.

void mrpt::bayes::CParticleFilterData::writeParticlesToStream

(

utils::CStream &

out

)

const [inline]

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See also:

readParticlesFromStream

Definition at line 93 of file CParticleFilterData.h.

---

Member Data Documentation

CParticleList mrpt::bayes::CParticleFilterData::m_particles

The array of particles.

Definition at line 64 of file CParticleFilterData.h.

Referenced by mrpt::bayes::CParticleFilterData< CRBPFParticleData >::clearParticles(), mrpt::bayes::CParticleFilterData< CRBPFParticleData >::writeParticlesToStream(), mrpt::bayes::CParticleFilterData< CRBPFParticleData >::readParticlesFromStream(), mrpt::bayes::CParticleFilterData< CRBPFParticleData >::getWeights(), and mrpt::bayes::CParticleFilterData< CRBPFParticleData >::getMostLikelyParticle().