vpLandmarkMeasurements Class Reference

Public Member Functions
	vpLandmarkMeasurements (const double &x, const double &y, const double &range_std, const double &rel_angle_std)
vpColVector	state_to_measurement (const vpColVector &chi)
vpColVector	measureGT (const vpColVector &pos)
vpColVector	measureWithNoise (const vpColVector &pos)
	vpLandmarkMeasurements (const double &x, const double &y, const double &range_std, const double &rel_angle_std)
vpColVector	state_to_measurement (const vpColVector &particle)
vpColVector	measureGT (const vpColVector &pos)
vpColVector	measureWithNoise (const vpColVector &pos)
void	computePositionFromMeasurements (const vpColVector &meas, double &x, double &y)

Detailed Description

Class that permits to convert the position + heading of the 4-wheel robot into measurements from a landmark.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 380 of file ukf-nonlinear-complex-example.cpp.

Constructor & Destructor Documentation

vpLandmarkMeasurements() [1/2]

vpLandmarkMeasurements::vpLandmarkMeasurements ( const double & x, const double & y, const double & range_std, const double & rel_angle_std )

inline

Construct a new vpLandmarkMeasurements object.

Parameters

[in]	x	The position along the x-axis of the landmark.
[in]	y	The position along the y-axis of the landmark.
[in]	range_std	The standard deviation of the range measurements.
[in]	rel_angle_std	The standard deviation of the relative angle measurements.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 391 of file ukf-nonlinear-complex-example.cpp.

vpLandmarkMeasurements() [2/2]

vpLandmarkMeasurements::vpLandmarkMeasurements ( const double & x, const double & y, const double & range_std, const double & rel_angle_std )

inline

Construct a new vpLandmarkMeasurements object.

Parameters

[in]	x	The position along the X-axis of the landmark.
[in]	y	The position along the Y-axis of the landmark.
[in]	range_std	The standard deviation of the range measurements.
[in]	rel_angle_std	The standard deviation of the relative angle measurements.

Definition at line 379 of file pf-nonlinear-complex-example.cpp.

Member Function Documentation

computePositionFromMeasurements()

void vpLandmarkMeasurements::computePositionFromMeasurements ( const vpColVector & meas, double & x, double & y )

inline

Compute the position that corresponds to a measurement.

Parameters

[in]	meas	The measurement vector.
[out]	x	The X-coordinate that corresponds to the measurement.
[out]	y	The Y-coordinate that corresponds to the measurement.

Examples

pf-nonlinear-complex-example.cpp.

Definition at line 445 of file pf-nonlinear-complex-example.cpp.

measureGT() [1/2]

vpColVector vpLandmarkMeasurements::measureGT ( const vpColVector & pos )

inline

Perfect measurement of the range and relative orientation of the robot located at pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x, pos[1]: y, pos[2] = heading).

Returns

vpColVector [0] the range [1] the relative orientation of the robot.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 421 of file ukf-nonlinear-complex-example.cpp.

Referenced by measureWithNoise().

measureGT() [2/2]

vpColVector vpLandmarkMeasurements::measureGT ( const vpColVector & pos )

inline

Perfect measurement of the range and relative orientation of the robot located at pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x, pos[1]: y, pos[2] = heading).

Returns

vpColVector [0] the range [1] the relative orientation of the robot.

Definition at line 409 of file pf-nonlinear-complex-example.cpp.

measureWithNoise() [1/2]

vpColVector vpLandmarkMeasurements::measureWithNoise ( const vpColVector & pos )

inline

Noisy measurement of the range and relative orientation that correspond to pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x ; pos[1] = y ; pos[2] = heading).

Returns

vpColVector [0] the range [1] the relative orientation.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 440 of file ukf-nonlinear-complex-example.cpp.

References measureGT().

measureWithNoise() [2/2]

vpColVector vpLandmarkMeasurements::measureWithNoise ( const vpColVector & pos )

inline

Noisy measurement of the range and relative orientation that correspond to pos.

Parameters

[in]

pos

The actual position of the robot (pos[0]: x ; pos[1] = y ; pos[2] = heading).

Returns

vpColVector [0] the range [1] the relative orientation.

Definition at line 428 of file pf-nonlinear-complex-example.cpp.

References measureGT().

state_to_measurement() [1/2]

vpColVector vpLandmarkMeasurements::state_to_measurement ( const vpColVector & chi )

inline

Convert the prior of the UKF into the measurement space.

Parameters

[in]

chi

The prior.

Returns

vpColVector The prior expressed in the measurement space.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 404 of file ukf-nonlinear-complex-example.cpp.

state_to_measurement() [2/2]

vpColVector vpLandmarkMeasurements::state_to_measurement ( const vpColVector & particle )

inline

Convert a particle of the Particle Filter into the measurement space.

Parameters

[in]

particle

The prior.

Returns

vpColVector The prior expressed in the measurement space.

Definition at line 392 of file pf-nonlinear-complex-example.cpp.