AuxiliaryParticleSmootherHarness.cpp File Reference

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Detailed Description

Basic test of ParticleSmoother with AuxiliaryParticleResampler.

Results are output into files as follows:

results/AuxiliaryParticleSmootherHarness_actual.out

Actual state of the robot at each time. Columns are as follows:

• time
• x coordinate
• y coordinate
• orientation (radians)

results/AuxiliaryParticleSmootherHarness_meas.out

Measurement at each time step. Columns are as follows:

• time
• measurement

results/AuxiliaryParticleSmootherHarness_filter.out

Predicted state at each time step. Columns are as follows:

• time
• mean x coordinate
• mean y coordinate
• mean orientation
• The remaining columns give the covariance matrix between the above state variables.

results/AuxiliaryParticleSmootherHarness_smooth.out

Predicted state (smoothed) at each time step. Columns are as follows:

• time
• mean x coordinate
• mean y coordinate
• mean orientation
• The remaining columns give the covariance matrix between the above state variables.

Note that as the smoothing is performed in a backwards pass, this file has entries in reverse time order.

Results

Results are as follows:

Results

Definition in file AuxiliaryParticleSmootherHarness.cpp.

Go to the source code of this file.

Namespaces
namespace	std
namespace	indii::ml::filter
Defines
#define	SYSTEM_SIZE   5
#define	SYSTEM_NOISE_SIZE   2
#define	MEAS_SIZE   1
#define	MEAS_NOISE_SIZE   1
#define	ACTUAL_SIZE   3
#define	STEPS   250
#define	NUM_PARTICLES   400
Functions
void	outputVector (ofstream &out, aux::vector vec)
void	outputMatrix (ofstream &out, aux::matrix mat)
int	main (int argc, char *argv[])
	Run tests.

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Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Run tests.

Definition at line 92 of file AuxiliaryParticleSmootherHarness.cpp.

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