Bearing only feature observation model. More...

Detailed Description

Bearing only feature observation model.

Definition at line 150 of file bearingOnlyFeature.hpp.

Inheritance diagram for jafar::slam::BearingOnlyFeatureObserveModel:

Public Member Functions
	BearingOnlyFeatureObserveModel (FeatureModel &model, std::size_t sizeObs_)
void	setup (double doUpdateTh=8, double eraseHypothesisTh=20)
double	eraseHypothesisTh () const
void	initState (InitFeature &feature_, Observation const &obs_, double dMin_, double dMax_)
	Approximate the initial probability function with a sum of gaussians.
virtual void	initStateInSensorFrame (InitFeature &feature_, Observation const &obs_, double dMin_, double dMax_)=0
bool	doUpdateInitState (jblas::vec const &closestMemberState, jblas::vec const &deltaPose)
Protected Member Functions
void	boPointsGeometricGaussianSum (jblas::vec const &d_, jblas::sym_mat const &dCov_, double alpha_, double beta_, double sMin_, double sMax_, InitFeature::InitStateType &gaussianSum)
	This fonction computes the special sum of gaussians representing points from the line of sight, and the parameters of the sum.
Static Protected Member Functions
static double	kSigmaToBeta (double alpha, double kSigma)
	computes the beta value
static void	basicUniformGaussianSum (double min, double max, double sigma, double kSigma, std::list< jafar::jmath::GaussianVector > &gaussianSum)
static void	geometricUniformGaussianSum (double alpha, double beta, double sMin, double sMax, std::list< jafar::jmath::WeightedGaussianVector > &gaussianSum)
Protected Attributes
double	m_doUpdateTh
	threshold for updating or not the init state
double	m_eraseHypothesisTh
	threshold for updating or not the init state

Member Function Documentation

void jafar::slam::BearingOnlyFeatureObserveModel::initState	(	InitFeature &	feature_,
		Observation const &	obs_,
		double	dMin_,
		double	dMax_
	)

Approximate the initial probability function with a sum of gaussians.

Delegates work to initStateInSensorFrame() and takes care of the robot frame to sensor frame transformation.

The documentation for this class was generated from the following file: