HistogramFilter Class Template Reference

Class representing the histogram filter. More...

#include <histogramfilter.h>

Inheritance diagram for HistogramFilter:

Filter< int, MeasVar >

List of all members.

Public Member Functions

 HistogramFilter (DiscretePdf *prior)
 Constructor.
virtual ~HistogramFilter ()
 Destructor.
virtual DiscretePdfPostGet ()
 Get Posterior density.
virtual void Reset (Pdf< int > *prior)
 Reset Filter.
virtual bool Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Full Update (system with inputs/sensing params).
virtual bool Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Full Update (system without inputs, with sensing params).
virtual bool Update (SystemModel< int > *const sysmodel, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z)
 Full Update (system without inputs/sensing params).
virtual bool Update (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z)
 Full Update (system with inputs, without sensing params).
virtual bool Update (SystemModel< int > *const sysmodel, const int &u)
 System Update (system with inputs).
virtual bool Update (SystemModel< int > *const sysmodel)
 System Update (system without inputs).
virtual bool Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Measurement Update (system with "sensing params").
virtual bool Update (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z)
 Measurement Update (system without "sensing params").
int TimeStepGet () const
 Get current time.

Protected Member Functions

void SysUpdate (SystemModel< int > *const sysmodel, const int &u)
void MeasUpdate (MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Measurement Update.
bool UpdateInternal (SystemModel< int > *const sysmodel, const int &u, MeasurementModel< MeasVar, int > *const measmodel, const MeasVar &z, const int &s)
 Actual implementation of Update, varies along filters.

Protected Attributes

vector< Probability_old_prob
 While updating store list of old probabilities.
vector< Probability_new_prob
 While updating store list of new probabilities.
Pdf< int > * _prior
 prior Pdf
Pdf< int > * _post
 Pointer to the Posterior Pdf.
int _timestep
 Represents the current timestep of the filter.


Detailed Description

template<typename MeasVar>
class BFL::HistogramFilter< MeasVar >

Class representing the histogram filter.

This is a class representing the histogram filter. A histogram filter is the basic discrete state filter for histogram representations of the state. The implementation is based upon Probabilistic Robotics book of Thrun, Burgard, Fox

{ ThrunBurgardFox2005, author = {Thrun, S. and Burgard, W. and Fox, D.}, title = {Probabilistic Robotics}, publisher = {MIT Press}, year = {2005}, issn_isbn = {0-262-20162-3}, annote = {{http://www.probabilistic-robotics.org}}, keywords = {Bayes theory, estimation} } The system of updating the Posterior density is implemented in this class.

Definition at line 49 of file histogramfilter.h.


Constructor & Destructor Documentation

HistogramFilter ( DiscretePdf prior  )  [inline]

Constructor.

Precondition:
you created the prior
Parameters:
prior pointer to the Discrete Pdf prior density

Definition at line 121 of file histogramfilter.h.


Member Function Documentation

DiscretePdf * PostGet (  )  [inline, virtual]

Get Posterior density.

Get the current Posterior density

Returns:
a pointer to the current posterior

Reimplemented from Filter< int, MeasVar >.

Definition at line 196 of file histogramfilter.h.

void SysUpdate ( SystemModel< int > *const   sysmodel,
const int &  u 
) [inline, protected]

Calculate Discrete filter System Update

Parameters:
sysmodel pointer to the system model the filter should use
u input to the system

Definition at line 139 of file histogramfilter.h.

void MeasUpdate ( MeasurementModel< MeasVar, int > *const   measmodel,
const MeasVar &  z,
const int &  s 
) [inline, protected]

Measurement Update.

Update the filter's Posterior density using the sensor measurements, an input and the measurement model.

Parameters:
measmodel pointer to the measurement model the filter should use
z sensor measurement
s input to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf

Definition at line 169 of file histogramfilter.h.

bool UpdateInternal ( SystemModel< int > *const   sysmodel,
const int &  u,
MeasurementModel< MeasVar, int > *const   measmodel,
const MeasVar &  z,
const int &  s 
) [inline, protected, virtual]

Actual implementation of Update, varies along filters.

Parameters:
sysmodel pointer to the used system model
u input param for proposal density
measmodel pointer to the used measurementmodel
z measurement param for proposal density
s sensor param for proposal density

Implements Filter< int, MeasVar >.

Definition at line 184 of file histogramfilter.h.

virtual bool Update ( SystemModel< int > *const   sysmodel,
const int &  u,
MeasurementModel< MeasVar , int > *const   measmodel,
const MeasVar &  z,
const int &  s 
) [virtual, inherited]

Full Update (system with inputs/sensing params).

Parameters:
sysmodel pointer to the system model to use for update
u input to the system
measmodel pointer to the measurement model to use for update
z measurement
s "sensing parameter"

virtual bool Update ( SystemModel< int > *const   sysmodel,
MeasurementModel< MeasVar , int > *const   measmodel,
const MeasVar &  z,
const int &  s 
) [virtual, inherited]

Full Update (system without inputs, with sensing params).

Parameters:
sysmodel pointer to the system model to use for update
measmodel pointer to the measurement model to use for update
z measurement
s "sensing parameter"

virtual bool Update ( SystemModel< int > *const   sysmodel,
MeasurementModel< MeasVar , int > *const   measmodel,
const MeasVar &  z 
) [virtual, inherited]

Full Update (system without inputs/sensing params).

Parameters:
sysmodel pointer to the system model to use for update
measmodel pointer to the measurement model to use for update
z measurement

virtual bool Update ( SystemModel< int > *const   sysmodel,
const int &  u,
MeasurementModel< MeasVar , int > *const   measmodel,
const MeasVar &  z 
) [virtual, inherited]

Full Update (system with inputs, without sensing params).

Parameters:
sysmodel pointer to the system model to use for update
u input to the system
measmodel pointer to the measurement model to use for update
z measurement

virtual bool Update ( SystemModel< int > *const   sysmodel,
const int &  u 
) [virtual, inherited]

System Update (system with inputs).

Parameters:
sysmodel pointer to the system model to use for update
u input to the system

virtual bool Update ( SystemModel< int > *const   sysmodel  )  [virtual, inherited]

System Update (system without inputs).

Parameters:
sysmodel pointer to the system model to use for update

virtual bool Update ( MeasurementModel< MeasVar , int > *const   measmodel,
const MeasVar &  z,
const int &  s 
) [virtual, inherited]

Measurement Update (system with "sensing params").

Parameters:
measmodel pointer to the measurement model to use for update
z measurement
s "sensing parameter"

virtual bool Update ( MeasurementModel< MeasVar , int > *const   measmodel,
const MeasVar &  z 
) [virtual, inherited]

Measurement Update (system without "sensing params").

Parameters:
measmodel pointer to the measurement model to use for update
z measurement

int TimeStepGet (  )  const [inherited]

Get current time.

Get the current time of the filter

Returns:
the current timestep


Member Data Documentation

Pdf<int >* _post [protected, inherited]

Pointer to the Posterior Pdf.

The Posterior Pdf represents the subjective belief of the person applying the filter AFTER processing inputs and measurements. A filter does not maintain the beliefs at all timesteps t, since this leads to non-constant (or ever growing if you prefer) memory requirements. However, it is possible, to copy the Posterior density at all timesteps in your application by means of the PostGet() member function

See also:
PostGet()

Definition at line 95 of file filter.h.

int _timestep [protected, inherited]

Represents the current timestep of the filter.

Todo:
Check wether this really belongs here

Definition at line 100 of file filter.h.


The documentation for this class was generated from the following file:

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