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| ParticleFilter * | getPFReference () |
| | getPFReference - retrieve a reference to the base class's members More...
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| void | gtDataCallback (const read_omni_dataset::LRMGTData::ConstPtr &) |
| | gtDataCallback - callback of ground truth data More...
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| void | nextIteration () |
| | nextIteration - extends the base class method to add the ROS publishing More...
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| | PFPublisher (struct PFinitData &data, struct PublishData publishData) |
| | PFPublisher - constructor. More...
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| void | resize_particles (const uint n) |
| | resize_particles - change to a different number of particles and resize the publishing message More...
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 Public Member Functions inherited from pfuclt_omni_dataset::ParticleFilter |
| void | assign (const pdata_t value) |
| | assign - assign a value to every particle in all subsets More...
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| void | assign (const pdata_t value, const uint index) |
| | assign - assign a value to every particle in one subset More...
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| void | dynamicReconfigureCallback (pfuclt_omni_dataset::DynamicConfig &) |
| | dynamicReconfigureCallback - Dynamic reconfigure callback for dynamically setting variables during runtime More...
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| ParticleFilter * | getPFReference () |
| | getPFReference - retrieve a reference to this object - to be overloaded by deriving classes so that the base class can be returned More...
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| void | init () |
| | init - initialize the particle filter set with the default randomized values More...
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| void | init (const std::vector< double > &customRandInit, const std::vector< double > &customPosInit) |
| | init - initialize the particle filter set with custom values More...
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| bool | isInitialized () |
| | isInitialized - simple interface to access private member initialized_ More...
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| subparticles_t & | operator[] (int index) |
| | operator [] - array subscripting access to the private particle set More...
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| const subparticles_t & | operator[] (int index) const |
| | operator [] - const version of the array subscripting access, when using it on const intantiations of the class More...
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| | ParticleFilter (struct PFinitData &data) |
| | ParticleFilter - constructor. More...
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| void | predict (const uint robotNumber, const Odometry odom, const ros::Time stamp) |
| | predict - prediction step in the particle filter set with the received odometry More...
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| void | printWeights (std::string pre) |
| | printWeights More...
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| void | saveAllLandmarkMeasurementsDone (const uint robotNumber) |
| | saveAllLandmarkMeasurementsDone - call this function when all landmark measurements have been performed by a certain robot More...
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| void | saveAllTargetMeasurementsDone (const uint robotNumber) |
| | saveAllTargetMeasurementsDone - call this function when all target measurements have been performed by a certain robot More...
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| void | saveLandmarkObservation (const uint robotNumber, const uint landmarkNumber, const LandmarkObservation obs, ros::Time stamp) |
| | saveLandmarkObservation - saves the landmark observation to a buffer of observations More...
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| void | saveLandmarkObservation (const uint robotNumber, const uint landmarkNumber, const bool found) |
| | saveLandmarkObservation - change the measurement buffer state More...
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| void | saveTargetObservation (const uint robotNumber, const TargetObservation obs, ros::Time stamp) |
| | saveTargetObservation - saves the target observation to a buffer of observations More...
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| void | saveTargetObservation (const uint robotNumber, const bool found) |
| | saveTargetObservation - change the measurement buffer state More...
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| std::size_t | size () |
| | size - interface to the size of the particle filter More...
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| void | updateTargetIterationTime (ros::Time tRos) |
| | updateTargetIterationTime - the main robot should call this method after the target callback More...
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| Protected Member Functions inherited from pfuclt_omni_dataset::ParticleFilter |
| void | copyParticle (particles_t &p_To, particles_t &p_From, uint i_To, uint i_From) |
| | copyParticle - copies a whole particle from one particle set to another More...
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| void | copyParticle (particles_t &p_To, particles_t &p_From, uint i_To, uint i_From, uint subFirst, uint subLast) |
| | copyParticle - copies some subparticle sets of a particle from one particle set to another More...
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| void | estimate () |
| | estimate - state estimation through weighted means of particle weights More...
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| void | fuseRobots () |
| | fuseRobots - fuse robot states step More...
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| void | fuseTarget () |
| | fuseTarget - fuse target state step More...
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| void | modifiedMultinomialResampler (uint startAt) |
| | modifiedMultinomialResampler - a costly resampler that keeps 50% of the particles and implements the multinomial resampler on the rest More...
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| void | predictTarget () |
| | predictTarget - predict target state step More...
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| void | resample () |
| | resample - the resampling step More...
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| void | resetWeights (pdata_t val) |
| | resetWeights - assign the value val to all particle weights More...
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| void | spreadTargetParticlesSphere (float particlesRatio, pdata_t center[3], float radius) |
| | spreadTargetParticlesSphere - spread a percentage of the target particle in a sphere around center More...
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| Protected Attributes inherited from pfuclt_omni_dataset::ParticleFilter |
| std::vector< std::vector< LandmarkObservation > > | bufLandmarkObservations_ |
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| std::vector< TargetObservation > | bufTargetObservations_ |
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| bool | converged_ |
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| ros::WallDuration | deltaIteration_ |
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| ros::WallDuration | durationSum |
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| struct pfuclt_omni_dataset::ParticleFilter::dynamicVariables_s | dynamicVariables_ |
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| bool | initialized_ |
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| ros::WallTime | iterationEvalTime_ |
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| const std::vector< Landmark > & | landmarksMap_ |
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| ros::Time | latestObservationTime_ |
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| const uint | mainRobotID_ |
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| ros::WallDuration | maxDeltaIteration_ |
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| ros::NodeHandle & | nh_ |
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| const uint | nLandmarks_ |
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| uint | nParticles_ |
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| const uint | nRobots_ |
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| const uint | nStatesPerRobot_ |
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| const uint | nSubParticleSets_ |
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| const uint | nTargets_ |
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| uint16_t | numberIterations |
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| TimeEval | odometryTime_ |
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| particles_t | particles_ |
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| const std::vector< bool > & | robotsUsed_ |
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| ros::Time | savedLatestObservationTime_ |
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| RNGType | seed_ |
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| struct State | state_ |
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| TimeEval | targetIterationTime_ |
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| particles_t | weightComponents_ |
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The PFPublisher class - implements publishing for the ParticleFilter class using ROS.
Definition at line 27 of file pfuclt_publisher.h.
