#include <histogramfilter.h>
Public Member Functions | |
HistogramFilter (DiscretePdf *prior) | |
Constructor. | |
virtual | ~HistogramFilter () |
Destructor. | |
virtual DiscretePdf * | PostGet () |
Get Posterior density. | |
virtual void | Reset (Pdf< int > *prior) |
Reset Filter. | |
virtual bool | Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Full Update (system with inputs/sensing params). | |
virtual bool | Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Full Update (system without inputs, with sensing params). | |
virtual bool | Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z) |
Full Update (system without inputs/sensing params). | |
virtual bool | Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z) |
Full Update (system with inputs, without sensing params). | |
virtual bool | Update (SystemModel< int > *const sysmodel, const int &u) |
System Update (system with inputs). | |
virtual bool | Update (SystemModel< int > *const sysmodel) |
System Update (system without inputs). | |
virtual bool | Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Measurement Update (system with "sensing params"). | |
virtual bool | Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z) |
Measurement Update (system without "sensing params"). | |
int | TimeStepGet () const |
Get current time. | |
Protected Member Functions | |
void | SysUpdate (SystemModel< int > *const sysmodel, const int &u) |
void | MeasUpdate (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Measurement Update. | |
bool | UpdateInternal (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s) |
Actual implementation of Update, varies along filters. | |
Protected Attributes | |
vector< Probability > | _old_prob |
While updating store list of old probabilities. | |
vector< Probability > | _new_prob |
While updating store list of new probabilities. | |
Pdf< int > * | _prior |
prior Pdf | |
Pdf< int > * | _post |
Pointer to the Posterior Pdf. | |
int | _timestep |
Represents the current timestep of the filter. |
This is a class representing the histogram filter. A histogram filter is the basic discrete state filter for histogram representations of the state. The implementation is based upon Probabilistic Robotics book of Thrun, Burgard, Fox
{ ThrunBurgardFox2005, author = {Thrun, S. and Burgard, W. and Fox, D.}, title = {Probabilistic Robotics}, publisher = {MIT Press}, year = {2005}, issn_isbn = {0-262-20162-3}, annote = {{http://www.probabilistic-robotics.org}}, keywords = {Bayes theory, estimation} } The system of updating the Posterior density is implemented in this class.
Definition at line 49 of file histogramfilter.h.
HistogramFilter | ( | DiscretePdf * | prior | ) | [inline] |
Constructor.
prior | pointer to the Discrete Pdf prior density |
Definition at line 121 of file histogramfilter.h.
void MeasUpdate | ( | MeasurementModel< MeasVar, int > *const | measmodel, | |
const MeasVar & | z, | |||
const int & | s | |||
) | [inline, protected] |
Measurement Update.
Update the filter's Posterior density using the sensor measurements, an input and the measurement model.
measmodel | pointer to the measurement model the filter should use | |
z | sensor measurement | |
s | input to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf |
Definition at line 169 of file histogramfilter.h.
DiscretePdf * PostGet | ( | ) | [inline, virtual] |
Get Posterior density.
Get the current Posterior density
Reimplemented from Filter< int, MeasVar >.
Definition at line 196 of file histogramfilter.h.
void SysUpdate | ( | SystemModel< int > *const | sysmodel, | |
const int & | u | |||
) | [inline, protected] |
Calculate Discrete filter System Update
sysmodel | pointer to the system model the filter should use | |
u | input to the system |
Definition at line 139 of file histogramfilter.h.
int TimeStepGet | ( | ) | const [inherited] |
Get current time.
Get the current time of the filter
virtual bool Update | ( | MeasurementModel< MeasVar , int > *const | measmodel, | |
const MeasVar & | z | |||
) | [virtual, inherited] |
Measurement Update (system without "sensing params").
measmodel | pointer to the measurement model to use for update | |
z | measurement |
virtual bool Update | ( | MeasurementModel< MeasVar , int > *const | measmodel, | |
const MeasVar & | z, | |||
const int & | s | |||
) | [virtual, inherited] |
Measurement Update (system with "sensing params").
measmodel | pointer to the measurement model to use for update | |
z | measurement | |
s | "sensing parameter" |
virtual bool Update | ( | SystemModel< int > *const | sysmodel | ) | [virtual, inherited] |
System Update (system without inputs).
sysmodel | pointer to the system model to use for update |
virtual bool Update | ( | SystemModel< int > *const | sysmodel, | |
const int & | u | |||
) | [virtual, inherited] |
System Update (system with inputs).
sysmodel | pointer to the system model to use for update | |
u | input to the system |
virtual bool Update | ( | SystemModel< int > *const | sysmodel, | |
const int & | u, | |||
MeasurementModel< MeasVar , int > *const | measmodel, | |||
const MeasVar & | z | |||
) | [virtual, inherited] |
Full Update (system with inputs, without sensing params).
sysmodel | pointer to the system model to use for update | |
u | input to the system | |
measmodel | pointer to the measurement model to use for update | |
z | measurement |
virtual bool Update | ( | SystemModel< int > *const | sysmodel, | |
MeasurementModel< MeasVar , int > *const | measmodel, | |||
const MeasVar & | z | |||
) | [virtual, inherited] |
Full Update (system without inputs/sensing params).
sysmodel | pointer to the system model to use for update | |
measmodel | pointer to the measurement model to use for update | |
z | measurement |
virtual bool Update | ( | SystemModel< int > *const | sysmodel, | |
MeasurementModel< MeasVar , int > *const | measmodel, | |||
const MeasVar & | z, | |||
const int & | s | |||
) | [virtual, inherited] |
Full Update (system without inputs, with sensing params).
sysmodel | pointer to the system model to use for update | |
measmodel | pointer to the measurement model to use for update | |
z | measurement | |
s | "sensing parameter" |
virtual bool Update | ( | SystemModel< int > *const | sysmodel, | |
const int & | u, | |||
MeasurementModel< MeasVar , int > *const | measmodel, | |||
const MeasVar & | z, | |||
const int & | s | |||
) | [virtual, inherited] |
Full Update (system with inputs/sensing params).
sysmodel | pointer to the system model to use for update | |
u | input to the system | |
measmodel | pointer to the measurement model to use for update | |
z | measurement | |
s | "sensing parameter" |
bool UpdateInternal | ( | SystemModel< int > *const | sysmodel, | |
const int & | u, | |||
MeasurementModel< MeasVar, int > *const | measmodel, | |||
const MeasVar & | z, | |||
const int & | s | |||
) | [inline, protected, virtual] |
Actual implementation of Update, varies along filters.
sysmodel | pointer to the used system model | |
u | input param for proposal density | |
measmodel | pointer to the used measurementmodel | |
z | measurement param for proposal density | |
s | sensor param for proposal density |
Implements Filter< int, MeasVar >.
Definition at line 184 of file histogramfilter.h.
Pointer to the Posterior Pdf.
The Posterior Pdf represents the subjective belief of the person applying the filter AFTER processing inputs and measurements. A filter does not maintain the beliefs at all timesteps t, since this leads to non-constant (or ever growing if you prefer) memory requirements. However, it is possible, to copy the Posterior density at all timesteps in your application by means of the PostGet() member function
int _timestep [protected, inherited] |