mcl_model Struct Reference

#include <mcl.h>

List of all members.

Public Attributes
void(*	reset )(struct mcl_model *mcl)
	Resets particles to the initial (random) state.
void(*	set_estimated )(struct mcl_model *mcl, void *new_estimated)
	Resets all particles to represent a known state.
void(*	predict )(struct mcl_model *mcl, void *delta)
	Prediction step of MCL.
void(*	update )(struct mcl_model *mcl, void *measurement)
	Update step.
void(*	resample )(struct mcl_model *mcl)
	Normalization and resampling.
void(*	done )(struct mcl_model *mcl)
	Deallocates all memory etc.
void *	estimated
int	count
mcl_weight_t *	weight
void *	priv

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Member Data Documentation

int mcl_model::count

void(* mcl_model::done)(struct mcl_model *mcl)

Deallocates all memory etc.

void* mcl_model::estimated

void(* mcl_model::predict)(struct mcl_model *mcl, void *delta)

Prediction step of MCL.

Moves particles by delta + noise. Also updates the estimated field by delta (without noise).

void* mcl_model::priv

void(* mcl_model::resample)(struct mcl_model *mcl)

Normalization and resampling.

void(* mcl_model::reset)(struct mcl_model *mcl)

Resets particles to the initial (random) state.

void(* mcl_model::set_estimated)(struct mcl_model *mcl, void *new_estimated)

Resets all particles to represent a known state.

void(* mcl_model::update)(struct mcl_model *mcl, void *measurement)

Update step.

Sets particle weights acording to the measurement. Updates estimated field to match the particle with the highest weight.

mcl_weight_t* mcl_model::weight

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

• mcl/mcl.h