CRangeBearingParticleFilter Class Reference

Detailed Description

Definition at line 195 of file vision_stereo_rectify/test.cpp.

Inheritance diagram for CRangeBearingParticleFilter:

Public Types
using	CParticleDataContent = CParticleVehicleData
	This is the type inside the corresponding CParticleData class. More...
using	CParticleData = CProbabilityParticle< CParticleVehicleData, particle_storage_mode::POINTER >
	Use this to refer to each element in the m_particles array. More...
using	CParticleList = std::deque< CParticleData >
	Use this type to refer to the list of particles m_particles. More...
using	TParticleProbabilityEvaluator = double(*)(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
	A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". More...

Public Member Functions
void	prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...
void	initializeParticles (size_t numParticles)
void	getMean (float &x, float &y, float &vx, float &vy)
	Computes the average velocity & position. More...
void	clearParticles ()
	Free the memory of all the particles and reset the array "m_particles" to length zero. More...
void	writeParticlesToStream (STREAM &out) const
	Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More...
void	readParticlesFromStream (STREAM &in)
	Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More...
void	getWeights (std::vector< double > &out_logWeights) const
	Returns a vector with the sequence of the logaritmic weights of all the samples. More...
const CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...
const CRangeBearingParticleFilter &	derived () const
	CRTP helper method. More...
CRangeBearingParticleFilter &	derived ()
	CRTP helper method. More...
double	getW (size_t i) const override
	Access to i'th particle (logarithm) weight, where first one is index 0. More...
void	setW (size_t i, double w) override
	Modifies i'th particle (logarithm) weight, where first one is index 0. More...
size_t	particlesCount () const override
	Get the m_particles count. More...
double	normalizeWeights (double *out_max_log_w=nullptr) override
	Normalize the (logarithmic) weights, such as the maximum weight is zero. More...
double	ESS () const override
	Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...
void	performSubstitution (const std::vector< size_t > &indx) override
	Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change. More...
void	prepareFastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void *action=nullptr, const void *observation=nullptr) const
	Prepares data structures for calling fastDrawSample method next. More...
size_t	fastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const
	Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). More...
void	prediction_and_update (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the prediction stage of the Particle Filter. More...
void	performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, size_t out_particle_count=0)
	Performs a resample of the m_particles, using the method selected in the constructor. More...

Static Public Member Functions
static double	defaultEvaluator ([[maybe_unused]] const bayes::CParticleFilter::TParticleFilterOptions &PF_options, [[maybe_unused]] const CParticleFilterCapable *obj, size_t index, [[maybe_unused]] const void *action, [[maybe_unused]] const void *observation)
	The default evaluator function, which simply returns the particle weight. More...
static void	computeResampling (CParticleFilter::TParticleResamplingAlgorithm method, const std::vector< double > &in_logWeights, std::vector< size_t > &out_indexes, size_t out_particle_count=0)
	A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. More...
static void	log2linearWeights (const std::vector< double > &in_logWeights, std::vector< double > &out_linWeights)
	A static method to compute the linear, normalized (the sum the unity) weights from log-weights. More...

Public Attributes
CParticleList	m_particles
	The array of particles. More...

Static Public Attributes
static const particle_storage_mode	PARTICLE_STORAGE

Protected Member Functions
virtual void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
virtual void	prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
virtual void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...

Protected Attributes
TFastDrawAuxVars	m_fastDrawAuxiliary
	Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...

Member Typedef Documentation

CParticleData

using mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::CParticleData = CProbabilityParticle<CParticleVehicleData , particle_storage_mode::POINTER >

inherited

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

Definition at line 189 of file CParticleFilterData.h.

CParticleDataContent

using mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::CParticleDataContent = CParticleVehicleData

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 187 of file CParticleFilterData.h.

CParticleList

using mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::CParticleList = std::deque<CParticleData>

inherited

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

Definition at line 191 of file CParticleFilterData.h.

TParticleProbabilityEvaluator

using mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator = double (*)( const bayes::CParticleFilter::TParticleFilterOptions& PF_options, const CParticleFilterCapable* obj, size_t index, const void* action, const void* observation)

inherited

A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample".

The default evaluator function "defaultEvaluator" simply returns the particle weight.

Parameters

index	This is the index of the particle its probability is being computed.
action	The value of this is the parameter passed to "prepareFastDrawSample"
observation	The value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility.

See also

prepareFastDrawSample

Definition at line 60 of file CParticleFilterCapable.h.

Member Function Documentation

clearParticles()

void mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::clearParticles ( )

inlineinherited

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

Definition at line 201 of file CParticleFilterData.h.

computeResampling()

void CParticleFilterCapable::computeResampling ( CParticleFilter::TParticleResamplingAlgorithm  method, const std::vector< double > &  in_logWeights, std::vector< size_t > &  out_indexes, size_t  out_particle_count = 0  )

staticinherited

A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method.

It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling

Parameters

[in]

out_particle_count

The desired number of output particles after resampling; 0 means don't modify the current number.

See also

performResampling

Definition at line 61 of file CParticleFilterCapable.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), mrpt::random::getRandomGenerator(), mrpt::math::maximum(), MRPT_END, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::prResidual, mrpt::bayes::CParticleFilter::prStratified, mrpt::bayes::CParticleFilter::prSystematic, R, and THROW_EXCEPTION.

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defaultEvaluator()

static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator ( [[maybe_unused] ] const bayes::CParticleFilter::TParticleFilterOptions &  PF_options, [[maybe_unused] ] const CParticleFilterCapable *  obj, size_t  index, [[maybe_unused] ] const void *  action, [[maybe_unused] ] const void *  observation  )

inlinestaticinherited

The default evaluator function, which simply returns the particle weight.

The action and the observation are declared as "void*" for a greater flexibility.

See also

prepareFastDrawSample

Definition at line 68 of file CParticleFilterCapable.h.

derived() [1/2]

const CRangeBearingParticleFilter & mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

derived() [2/2]

CRangeBearingParticleFilter & mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 39 of file CParticleFilterData.h.

ESS()

double mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::ESS ( ) const

inlineoverridevirtualinherited

Returns the normalized ESS (Estimated Sample Size), in the range [0,1].

Note that you do NOT need to normalize the weights before calling this.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 84 of file CParticleFilterData.h.

fastDrawSample()

size_t CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions &  PF_options ) const

inherited

Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm).

This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the Particle Filter tutorial.

NOTES:

• You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
• This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
• You do not need to call "normalizeWeights" before calling this.

  See also

  prepareFastDrawSample

Definition at line 478 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

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getMean()

void CRangeBearingParticleFilter::getMean	(	float &	x,
		float &	y,
		float &	vx,
		float &	vy
	)

Computes the average velocity & position.

Computes the average velocity.

Definition at line 677 of file vision_stereo_rectify/test.cpp.

getMostLikelyParticle()

const CParticleData* mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::getMostLikelyParticle ( ) const

inlineinherited

Returns the particle with the highest weight.

Definition at line 270 of file CParticleFilterData.h.

getW()

double mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::getW ( size_t  i ) const

inlineoverridevirtualinherited

Access to i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 40 of file CParticleFilterData.h.

getWeights()

void mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::getWeights ( std::vector< double > &  out_logWeights ) const

inlineinherited

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

Definition at line 256 of file CParticleFilterData.h.

initializeParticles()

void CRangeBearingParticleFilter::initializeParticles

(

size_t

numParticles

)

Definition at line 651 of file vision_stereo_rectify/test.cpp.

log2linearWeights()

void CParticleFilterCapable::log2linearWeights ( const std::vector< double > &  in_logWeights, std::vector< double > &  out_linWeights  )

staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See also

performResampling

Definition at line 544 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::normalizeWeights ( double *  out_max_log_w = nullptr )

inlineoverridevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters

out_max_log_w

If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w.

Returns

The max/min ratio of weights ("dynamic range")

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 59 of file CParticleFilterData.h.

particlesCount()

size_t mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::particlesCount ( ) const

inlineoverridevirtualinherited

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 54 of file CParticleFilterData.h.

performResampling()

void CParticleFilterCapable::performResampling ( const bayes::CParticleFilter::TParticleFilterOptions &  PF_options, size_t  out_particle_count = 0  )

inherited

Performs a resample of the m_particles, using the method selected in the constructor.

After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample"

Parameters

[in]

out_particle_count

The desired number of output particles after resampling; 0 means don't modify the current number.

See also

resample

Definition at line 29 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

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performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::performSubstitution ( const std::vector< size_t > &  indx )

inlineoverridevirtualinherited

Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 109 of file CParticleFilterData.h.

prediction_and_update()

void CParticleFilterCapable::prediction_and_update ( const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

inherited

Performs the prediction stage of the Particle Filter.

This method simply selects the appropiate protected method according to the particle filter algorithm to run.

See also

prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

Definition at line 273 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal, mrpt::bayes::CParticleFilter::pfAuxiliaryPFStandard, mrpt::bayes::CParticleFilter::pfOptimalProposal, mrpt::bayes::CParticleFilter::pfStandardProposal, and THROW_EXCEPTION.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

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prediction_and_update_pfAuxiliaryPFOptimal()

void CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also

prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, mrpt::slam::CMonteCarloLocalization2D, mrpt::slam::CMonteCarloLocalization3D, and mrpt::maps::CMultiMetricMapPDF.

Definition at line 345 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

prediction_and_update_pfAuxiliaryPFStandard()

void CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also

prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 320 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

prediction_and_update_pfOptimalProposal()

void CParticleFilterCapable::prediction_and_update_pfOptimalProposal ( const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also

prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.

Definition at line 333 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

prediction_and_update_pfStandardProposal()

void CRangeBearingParticleFilter::prediction_and_update_pfStandardProposal ( const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

overridevirtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:

Parameters

action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 598 of file vision_stereo_rectify/test.cpp.

prepareFastDrawSample()

void CParticleFilterCapable::prepareFastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions &  PF_options, TParticleProbabilityEvaluator  partEvaluator = defaultEvaluator, const void *  action = nullptr, const void *  observation = nullptr  ) const

inherited

Prepares data structures for calling fastDrawSample method next.

This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see CParticleFilter::TParticleFilterOptions):

• DYNAMIC SAMPLE SIZE=NO: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.
• DYNAMIC SAMPLE SIZE=YES: Then:
  • If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.
  • For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.

The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the Particle Filter tutorial. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights.

See also

fastDrawSample

Definition at line 359 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, mrpt::math::maximum(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

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readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::readParticlesFromStream ( STREAM &  in )

inlineinherited

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

See also

writeParticlesToStream

Definition at line 229 of file CParticleFilterData.h.

setW()

void mrpt::bayes::CParticleFilterDataImpl< CRangeBearingParticleFilter , mrpt::bayes::CParticleFilterData< CParticleVehicleData >::CParticleList >::setW ( size_t  i, double  w  )

inlineoverridevirtualinherited

Modifies i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 47 of file CParticleFilterData.h.

writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::writeParticlesToStream ( STREAM &  out ) const

inlineinherited

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

See also

readParticlesFromStream

Definition at line 207 of file CParticleFilterData.h.

Member Data Documentation

m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary

mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 282 of file CParticleFilterCapable.h.

m_particles

CParticleList mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::m_particles

inherited

The array of particles.

Definition at line 195 of file CParticleFilterData.h.

PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< CParticleVehicleData , particle_storage_mode::POINTER >::PARTICLE_STORAGE

staticinherited

Definition at line 192 of file CParticleFilterData.h.