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RobotFlow::PFGenericParticleFilter Class Reference

#include <PFGenericParticleFilter.h>

Inheritance diagram for RobotFlow::PFGenericParticleFilter:

Inheritance graph
Collaboration diagram for RobotFlow::PFGenericParticleFilter:

Collaboration graph

Public Member Functions

 PFGenericParticleFilter ()
 PFGenericParticleFilter (unsigned int i_numSamples, unsigned int i_sampleStateSize, const FD::Vector< float > *i_initVariance)
 PFGenericParticleFilter (std::string nodeName, FD::ParameterSet params)
virtual ~PFGenericParticleFilter ()
void printOn (std::ostream &out) const
void readFrom (std::istream &in)
virtual void request (int output_id, const FD::ParameterSet &req)
void calculate (int output_id, int count, FD::Buffer &out)
void Initialize (const FD::Vector< float > *i_variance)
void InitSamples ()
void Update ()
void ComputeMeanState ()
void Resample ()
FD::RCPtr< PFGenericParticleGetCurSample ()
FD::RCPtr< PFGenericParticleGetFirstSample ()
FD::RCPtr< PFGenericParticleGetSampleByIdx (int i_idx)
FD::RCPtr< PFGenericParticleGetMeanState ()
void SetRefMeanSample (PFGenericParticle *i_curSample)
void InitLikelihoodsSum ()
void IncLikelihoodsSum (float i_likelihood)
e_PF_type GetType () const
void SetType (e_PF_type i_type)
virtual ObjectRef getOutput (int output_id, int count)
virtual void initialize ()
virtual void reset ()
virtual int addOutput (const std::string &outputName)
virtual int addInput (const std::string &inputName)
virtual void initializeBuffers ()
virtual void performRequests ()
virtual ObjectRef getOutputNamed (const std::string &outputName, int count)
virtual void connectToNode (std::string in, Node *inputNode, std::string out)
virtual bool hasOutput (int output_id) const
ObjectRef getInput (int inputID, int count)
virtual void stop ()
virtual void cleanupNotify ()
std::string getName ()
virtual void verifyConnect ()
void setUINode (UINode *_uinode)
void ref ()
void unref ()
int unique ()
virtual void destroy ()
virtual void serialize (std::ostream &out) const
virtual void unserialize (std::istream &in)
virtual void doesNotUnderstand (std::string method)
virtual bool isNil () const
virtual void prettyPrint (std::ostream &out=std::cout) const
virtual ObjectRef clone ()
virtual std::string className () const

Static Public Member Functions

static int addFactory (const std::string &factoryName, _NodeFactory *const factory)
static int addXPM (const std::string &nodeName, char **XPMData)
static char ** getXPM (const std::string &nodeName)
static _NodeFactory * getFactoryNamed (const std::string &name)
static std::map< std::string,
_NodeFactory * > & 
factoryDictionary ()
static std::vector< std::string > & nodeInfo ()
static std::map< std::string,
char ** > & 
XPMDictionary ()
static int addNodeInfo (const std::string &info)
static ObjectRef newObject (const std::string &objType)
static int addObjectType (const std::string &objType, _ObjectFactory *factory)
static std::map< std::string,
_ObjectFactory * > & 
ObjectFactoryDictionary ()
static TypeMap< _ObjectFactory * > & TypeidDictionary ()

Protected Member Functions

virtual void connectToNode (unsigned int in, Node *inputNode, unsigned int out)
virtual std::vector< NodeInput > & getInputs ()
virtual int translateInput (std::string inputName)
virtual int translateOutput (std::string inputName)
virtual void rt_assert (bool cond, std::string message="", char *_file="unknown", int _line=0)
virtual void construct_assert (bool cond, std::string message="", char *_file="unknown", int _line=0)
virtual void throw_error (bool send_ptr, std::string message, char *_file, int _line)

Protected Attributes

int processCount
std::vector< OutputCacheInfo > outputs
std::vector< InputCacheInfo > inputsCache
bool inOrder
std::string name
std::vector< NodeInput > inputs
std::vector< std::string > outputNames
ParameterSet parameters
UINode * uinode
AtomicCounter ref_count

Private Member Functions

void CopyTmpSamples ()

Private Attributes

int m_initVarianceInID
int m_refMeanStateInID
int m_predictInID
int m_likelihoodInID
int m_finishedOutID
int m_particleOutID
int m_meanStateOutID
bool m_init
bool m_initPF
bool m_initSamples
bool m_finished
int m_curSampleIdx
unsigned int m_numSamples
unsigned int m_sampleStateSize
FD::RCPtr< PFGenericParticle > * m_samples
FD::RCPtr< PFGenericParticle > * m_tmpSamples
float m_likelihoodsSum
float * m_cumulWeight
FD::Vector< float > * m_initVariance
FD::RCPtr< PFGenericParticlem_curSample
FD::RCPtr< PFGenericParticlem_refMeanState
FD::RCPtr< PFGenericParticlem_outMeanState


friend std::ostream & operator<< (std::ostream &out, const Object &obj)

Constructor & Destructor Documentation

RobotFlow::PFGenericParticleFilter::PFGenericParticleFilter  ) 

RobotFlow::PFGenericParticleFilter::PFGenericParticleFilter unsigned int  i_numSamples,
unsigned int  i_sampleStateSize,
const FD::Vector< float > *  i_initVariance

RobotFlow::PFGenericParticleFilter::PFGenericParticleFilter std::string  nodeName,
FD::ParameterSet  params

RobotFlow::PFGenericParticleFilter::~PFGenericParticleFilter  )  [virtual]

Member Function Documentation

void RobotFlow::PFGenericParticleFilter::calculate int  output_id,
int  count,
FD::Buffer out

Implements RobotFlow::PFParticleFilter.

void RobotFlow::PFGenericParticleFilter::ComputeMeanState  ) 

void RobotFlow::PFGenericParticleFilter::CopyTmpSamples  )  [private]

RCPtr< PFGenericParticle > RobotFlow::PFGenericParticleFilter::GetCurSample  ) 

RCPtr< PFGenericParticle > RobotFlow::PFGenericParticleFilter::GetFirstSample  ) 

RCPtr< PFGenericParticle > RobotFlow::PFGenericParticleFilter::GetMeanState  ) 

RCPtr< PFGenericParticle > RobotFlow::PFGenericParticleFilter::GetSampleByIdx int  i_idx  ) 

e_PF_type RobotFlow::PFParticleFilter::GetType  )  const [inline, inherited]

void RobotFlow::PFGenericParticleFilter::IncLikelihoodsSum float  i_likelihood  ) 

void RobotFlow::PFGenericParticleFilter::Initialize const FD::Vector< float > *  i_variance  ) 

void RobotFlow::PFGenericParticleFilter::InitLikelihoodsSum  ) 

void RobotFlow::PFGenericParticleFilter::InitSamples  ) 

void RobotFlow::PFGenericParticleFilter::printOn std::ostream &  out  )  const [inline, virtual]

Implements RobotFlow::PFParticleFilter.

void RobotFlow::PFGenericParticleFilter::readFrom std::istream &  in  )  [inline, virtual]

Implements RobotFlow::PFParticleFilter.

void RobotFlow::PFGenericParticleFilter::request int  output_id,
const FD::ParameterSet req

Reimplemented from FD::BufferedNode.

void RobotFlow::PFGenericParticleFilter::Resample  ) 

void RobotFlow::PFGenericParticleFilter::SetRefMeanSample PFGenericParticle i_curSample  ) 

void RobotFlow::PFParticleFilter::SetType e_PF_type  i_type  )  [inline, inherited]

void RobotFlow::PFGenericParticleFilter::Update  ) 

Field Documentation

float* RobotFlow::PFGenericParticleFilter::m_cumulWeight [private]

FD::RCPtr<PFGenericParticle> RobotFlow::PFGenericParticleFilter::m_curSample [private]

int RobotFlow::PFGenericParticleFilter::m_curSampleIdx [private]

bool RobotFlow::PFGenericParticleFilter::m_finished [private]

int RobotFlow::PFGenericParticleFilter::m_finishedOutID [private]

bool RobotFlow::PFGenericParticleFilter::m_init [private]

bool RobotFlow::PFGenericParticleFilter::m_initPF [private]

bool RobotFlow::PFGenericParticleFilter::m_initSamples [private]

FD::Vector<float>* RobotFlow::PFGenericParticleFilter::m_initVariance [private]

int RobotFlow::PFGenericParticleFilter::m_initVarianceInID [private]

int RobotFlow::PFGenericParticleFilter::m_likelihoodInID [private]

float RobotFlow::PFGenericParticleFilter::m_likelihoodsSum [private]

int RobotFlow::PFGenericParticleFilter::m_meanStateOutID [private]

unsigned int RobotFlow::PFGenericParticleFilter::m_numSamples [private]

FD::RCPtr<PFGenericParticle> RobotFlow::PFGenericParticleFilter::m_outMeanState [private]

int RobotFlow::PFGenericParticleFilter::m_particleOutID [private]

int RobotFlow::PFGenericParticleFilter::m_predictInID [private]

FD::RCPtr<PFGenericParticle> RobotFlow::PFGenericParticleFilter::m_refMeanState [private]

int RobotFlow::PFGenericParticleFilter::m_refMeanStateInID [private]

FD::RCPtr<PFGenericParticle>* RobotFlow::PFGenericParticleFilter::m_samples [private]

unsigned int RobotFlow::PFGenericParticleFilter::m_sampleStateSize [private]

FD::RCPtr<PFGenericParticle>* RobotFlow::PFGenericParticleFilter::m_tmpSamples [private]

The documentation for this class was generated from the following files:
Generated on Wed Oct 5 14:36:29 2005 for RobotFlow by  doxygen 1.4.4