ParticleFilterModel Class Template Reference

Inheritance diagram for ParticleFilterModel:

[legend]

List of all members.

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Detailed Description

template<class T = unsigned int>
class indii::ml::filter::ParticleFilterModel< T >

ParticleFilter compatible model.

Author:

Lawrence Murray <lawrence@indii.org>

Version:

Rev

Date:

Date

Parameters:

T

The type of time.

See also:

indii::ml::filter for general usage guidelines.

Definition at line 22 of file ParticleFilterModel.hpp.

Public Member Functions
virtual	~ParticleFilterModel ()=0
	Destructor.
virtual unsigned int	getStateSize ()=0
	Get number of dimensions in state.
virtual unsigned int	getMeasurementSize ()=0
	Get number of dimensions in measurements.
virtual indii::ml::aux::vector	transition (const indii::ml::aux::vector &s, const T t, const T delta)=0
	Propagate particle through the state transition function.
virtual indii::ml::aux::vector	measure (const indii::ml::aux::vector &s)=0
	Apply the measurement function to an individual particle.
virtual double	weight (const indii::ml::aux::vector &s, const indii::ml::aux::vector &y)=0
	Weight particle with measurement.

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Constructor & Destructor Documentation

~ParticleFilterModel

(

)

[inline, pure virtual]

Destructor.

Definition at line 88 of file ParticleFilterModel.hpp.

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Member Function Documentation

virtual unsigned int getStateSize

(

)

[pure virtual]

Get number of dimensions in state.

Returns:

Number of dimensions in state.

virtual unsigned int getMeasurementSize

(

)

[pure virtual]

Get number of dimensions in measurements.

Returns:

Number of dimensions in measurements.

virtual indii::ml::aux::vector transition	(	const indii::ml::aux::vector &	s,
		const T	t,
		const T	delta
	)			[pure virtual]

Propagate particle through the state transition function.

Parameters:

	s	; a particle.
	t	; start time. This is provided to allow the calculation of deterministic input functions.
	delta	; time step.

Returns:

; propagation of the particle through the transition function, with noise.

virtual indii::ml::aux::vector measure

(

const indii::ml::aux::vector &

s

)

[pure virtual]

Apply the measurement function to an individual particle.

Parameters:

s

; a particle.

Returns:

; predicted measurement from the particle, with noise.

virtual double weight	(	const indii::ml::aux::vector &	s,
		const indii::ml::aux::vector &	y
	)			[pure virtual]

Weight particle with measurement.

The distribution over predicted measurements from the given particle is calculated. The density of this distribution at the actual measurement given becomes the weight assigned to the particle.

Parameters:

	s	; a particle.
	y	; the actual measurement.

Returns:

Weight assigned to the particle.

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