mrpt::bayes::CParticleFilterData< T > Class Template Reference

---

Detailed Description

template<class T>
class mrpt::bayes::CParticleFilterData< T >

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

Definition at line 56 of file CParticleFilterData.h.

#include <mrpt/bayes/CParticleFilterData.h>

Inheritance diagram for mrpt::bayes::CParticleFilterData< T >:

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

template<class T>

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

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

Definition at line 60 of file CParticleFilterData.h.

template<class T>

typedef T mrpt::bayes::CParticleFilterData< T >::CParticleDataContent

This is the type inside the corresponding CParticleData class.

Definition at line 59 of file CParticleFilterData.h.

template<class T>

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

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

Definition at line 61 of file CParticleFilterData.h.

---

Constructor & Destructor Documentation

template<class T>

mrpt::bayes::CParticleFilterData< T >::CParticleFilterData

(

)

[inline]

Default constructor.

Definition at line 66 of file CParticleFilterData.h.

template<class T>

virtual mrpt::bayes::CParticleFilterData< T >::~CParticleFilterData

(

)

[inline, virtual]

Virtual destructor.

Definition at line 82 of file CParticleFilterData.h.

---

Member Function Documentation

template<class T>

void mrpt::bayes::CParticleFilterData< T >::clearParticles

(

)

[inline]

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

Definition at line 71 of file CParticleFilterData.h.

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

template<class T>

const CParticleData* mrpt::bayes::CParticleFilterData< T >::getMostLikelyParticle

(

)

const [inline]

Returns the particle with the highest weight.

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

Definition at line 139 of file CParticleFilterData.h.

template<class T>

void mrpt::bayes::CParticleFilterData< T >::getWeights

(

vector_double &

out_logWeights )

const [inline]

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

Definition at line 126 of file CParticleFilterData.h.

template<class T>

void mrpt::bayes::CParticleFilterData< T >::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 106 of file CParticleFilterData.h.

template<class T>

void mrpt::bayes::CParticleFilterData< T >::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 92 of file CParticleFilterData.h.

---

Member Data Documentation

template<class T>

CParticleList mrpt::bayes::CParticleFilterData< T >::m_particles

The array of particles.

Definition at line 63 of file CParticleFilterData.h.

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