class mrpt::bayes::CParticleFilter

This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilterAlgorithm) any bayes::CParticleFilterCapable class can implement: it is the invoker of particle filter algorithms.

The particle filter is executed on a probability density function (PDF) described by a CParticleFilterCapable object, passed in the constructor or alternatively through the CParticleFilter::executeOn method.

For a complete example and further details, see the Particle Filter tutorial.

The basic SIR algorithm (pfStandardProposal) consists of:

  • Execute a prediction with the given “action”.

  • Update the weights of the particles using the likelihood of the “observation”.

  • Normalize weights.

  • Perform resampling if the ESS is below the threshold options.BETA.

See also:

mrpt::poses::CPoseParticlesPDF

#include <mrpt/bayes/CParticleFilter.h>

class CParticleFilter: public mrpt::system::COutputLogger
{
public:
    // enums

    enum TParticleFilterAlgorithm;
    enum TParticleResamplingAlgorithm;

    // structs

    struct TParticleFilterOptions;
    struct TParticleFilterStats;

    //
fields

    CParticleFilter::TParticleFilterOptions m_options;

    //
methods

    void executeOn(CParticleFilterCapable& obj, const mrpt::obs::CActionCollection* action, const mrpt::obs::CSensoryFrame* observation, TParticleFilterStats* stats = nullptr);
};

Inherited Members

public:
    // structs

    struct TMsg;

Fields

CParticleFilter::TParticleFilterOptions m_options

The options to be used in the PF, must be set before executing any step of the particle filter.

Methods

void executeOn(CParticleFilterCapable& obj, const mrpt::obs::CActionCollection* action, const mrpt::obs::CSensoryFrame* observation, TParticleFilterStats* stats = nullptr)

Executes a complete prediction + update step of the selected particle filtering algorithm.

The member CParticleFilter::m_options must be set before calling this to settle the algorithm parameters.

Parameters:

obj

The object representing the probability distribution function (PDF) which apply the particle filter algorithm to.

action

A pointer to an action in the form of a CActionCollection, or nullptr if there is no action.

observation

A pointer to observations in the form of a CSensoryFrame, or nullptr if there is no observation.

stats

An output structure for gathering statistics of the particle filter execution, or set to nullptr if you do not need it (see CParticleFilter::TParticleFilterStats).

See also:

CParticleFilterCapable, executeOn