Class RobotPoseObservationModel

Defined in File ObservationModel.hpp

Inheritance Relationships

Base Type

public particle_filter::ObservationModel< RobotState >

Class Documentation

class bitbots_localization::RobotPoseObservationModel : public particle_filter::ObservationModel<RobotState>

Public Functions

RobotPoseObservationModel(std::shared_ptr<Map> map_lines, std::shared_ptr<Map> map_goals, std::shared_ptr<Map> map_field_boundary, const bitbots_localization::Params &config, const FieldDimensions &field_dimensions): empty

double measure(const RobotState &state) const override

Parameters: state – Reference to the state that has to be weighted.
Returns: weight for the given state.

void set_measurement_lines_pc(sm::msg::PointCloud2 measurement)

void set_measurement_goalposts(sv3dm::msg::GoalpostArray measurement)

void set_measurement_field_boundary(sv3dm::msg::FieldBoundary measurement)

void set_measurement_markings(sv3dm::msg::MarkingArray measurement)

std::vector<std::pair<double, double>> get_measurement_lines() const

std::vector<std::pair<double, double>> get_measurement_goals() const

std::vector<std::pair<double, double>> get_measurement_field_boundary() const

double get_min_weight() const override

void clear_measurement()

bool measurements_available() override

Private Functions

double calculate_weight_for_class(const RobotState &state, const std::vector<std::pair<double, double>> &last_measurement, std::shared_ptr<Map> map, double element_weight) const

Private Members

std::vector<std::pair<double, double>> last_measurement_lines_

std::vector<std::pair<double, double>> last_measurement_goal_

std::vector<std::pair<double, double>> last_measurement_field_boundary_

std::shared_ptr<Map> map_lines_

std::shared_ptr<Map> map_goals_

std::shared_ptr<Map> map_field_boundary_

bitbots_localization::Params config_

FieldDimensions field_dimensions_