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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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Implements a particle in a rao-blackwellized particle filter for visual slam. More...
#include <particle.h>
Public Member Functions | |
| particle () | |
| Default Constructor. | |
| particle (int nRobots, float w, float h, float res, float x, float y, int gmtype, int vmtype, int nmarks, const ConfigFile &conf) | |
| Constructor. | |
| particle (const particle &) | |
| Copy Constructor. | |
| virtual | ~particle () |
| Default Destructor. | |
| const point & | getCell (int robot) |
| returns the cell where the robot is located | |
| point * | getDataCell () |
| returns a pointer to the data array of cells | |
| pose * | getDataPos () |
| returns a pointer to the data array of poses | |
| binMap & | getImprecisePoseMap () |
| returns a binary map of past poses with high dispersion | |
| int | getNumRobots () |
| returns the number of robots | |
| gridMapInterface & | getOMap () |
| returns the occupancy grid map | |
| const pose & | getPos (int robot) |
| returns the pose of the robot | |
| binMap & | getPrecisePoseMap () |
| returns a binary map of past poses with low dispersion | |
| double | getSumLogWeight () |
| returns the weight of the particle | |
| visualMap & | getVMap () |
| returns the visual map of landmarks | |
| double | getWeight () |
| returns the weight of the particle | |
| void | initialize (int nRobots, float w, float h, float res, float x, float y, int gmtype, int vmtype, int nmarks, const ConfigFile &conf) |
| initialization | |
| particle & | operator= (const particle &) |
| void | releaseVMap () |
| void | setCell (const point &point, int robot) |
| sets the cell where the robot is located | |
| void | setPos (const pose &pos, int robot) |
| sets the pose of a robot | |
| void | setSumLogWeight (double w) |
| sets the weight of the particle | |
| void | setWeight (double w) |
| sets the weight of the particle | |
Private Attributes | |
| unsigned short | height |
| binMap * | imprecisePoseMap |
| int | nrobots |
| gridMapInterface * | oMap |
| binMap * | precisePoseMap |
| point * | rcell |
| float | realHeight |
| float | realWidth |
| float | resolution |
| pose * | rpos |
| double | sumLogWeight |
| visualMap * | vMap |
| double | weight |
| unsigned short | width |
| float | xorigin |
| float | yorigin |
Implements a particle in a rao-blackwellized particle filter for visual slam.
Definition at line 24 of file particle.h.
1.7.6.1
