pfuclt_omni_dataset Namespace Reference

Classes
struct	landmark_s
	The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. More...
struct	landmarkObs_s
struct	odometry_s
class	ParticleFilter
class	PFPublisher
	The PFPublisher class - implements publishing for the ParticleFilter class using ROS. More...
class	Robot
	The Robot class - Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class. More...
class	RobotFactory
	The RobotFactory class - Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots. More...
struct	targetObs_s
struct	timeEval_s
	The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. More...

Typedefs
typedef double(*	estimatorFunc) (const std::vector< double > &, const std::vector< double > &)
typedef struct pfuclt_omni_dataset::landmark_s	Landmark
	The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. More...
typedef struct pfuclt_omni_dataset::landmarkObs_s	LandmarkObservation
typedef struct pfuclt_omni_dataset::odometry_s	Odometry
typedef std::vector< subparticles_t >	particles_t
typedef float	pdata_t
typedef boost::random::mt19937	RNGType
typedef boost::shared_ptr< Robot >	Robot_ptr
typedef std::vector< pdata_t >	subparticles_t
typedef struct pfuclt_omni_dataset::targetObs_s	TargetObservation
typedef struct pfuclt_omni_dataset::timeEval_s	TimeEval
	The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. More...

Enumerations
enum	ORDER_TYPE { ASC, DESC }
	The ORDER_TYPE enum - use to define an ascending or descending ordering. More...

Functions
template<typename T >
T	calc_stdDev (const std::vector< T > &vec)
	calc_stdDev - Calculates standard deviation from a vector of type T More...
std::vector< Landmark >	getLandmarks (const char *filename)
	getLandmarks - read landmark configuration from CSV file More...
template<typename T >
std::vector< unsigned int >	order_index (std::vector< T > const &values, const ORDER_TYPE order=DESC)
	order_index - Generates a vector of indexes ordered according to another vector More...
template<typename T >
bool	readParam (ros::NodeHandle &nh, const std::string name, T &variable)
	readParam - reads and returns a parameter from the ROS parameter server More...
template<typename T >
bool	readParam (ros::NodeHandle &nh, const std::string name, std::vector< T > &variable)

Variables
std::vector< double >	CUSTOM_PARTICLE_INIT
bool	DEBUG
float	K1
float	K2
float	K3
float	K4
float	K5
std::vector< Landmark >	landmarks
int	MAX_ROBOTS
int	MY_ID
int	NUM_LANDMARKS
int	NUM_TARGETS
std::vector< bool >	PLAYING_ROBOTS
std::vector< double >	POS_INIT
bool	PUBLISH
float	ROB_HT
ros::Time	timeInit
bool	USE_CUSTOM_VALUES = false

Typedef Documentation

typedef double(* pfuclt_omni_dataset::estimatorFunc) (const std::vector< double > &, const std::vector< double > &)

Definition at line 54 of file pfuclt_particles.h.

typedef struct pfuclt_omni_dataset::landmark_s pfuclt_omni_dataset::Landmark

The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}.

typedef struct pfuclt_omni_dataset::landmarkObs_s pfuclt_omni_dataset::LandmarkObservation

typedef struct pfuclt_omni_dataset::odometry_s pfuclt_omni_dataset::Odometry

typedef std::vector<subparticles_t> pfuclt_omni_dataset::particles_t

Definition at line 83 of file pfuclt_particles.h.

typedef float pfuclt_omni_dataset::pdata_t

Definition at line 52 of file pfuclt_particles.h.

typedef boost::random::mt19937 pfuclt_omni_dataset::RNGType

Definition at line 86 of file pfuclt_particles.h.

typedef boost::shared_ptr<Robot> pfuclt_omni_dataset::Robot_ptr

Definition at line 38 of file pfuclt_omni_dataset.h.

typedef std::vector<pdata_t> pfuclt_omni_dataset::subparticles_t

Definition at line 82 of file pfuclt_particles.h.

typedef struct pfuclt_omni_dataset::targetObs_s pfuclt_omni_dataset::TargetObservation

typedef struct pfuclt_omni_dataset::timeEval_s pfuclt_omni_dataset::TimeEval

The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods.

Enumeration Type Documentation

enum pfuclt_omni_dataset::ORDER_TYPE

The ORDER_TYPE enum - use to define an ascending or descending ordering.

Enumerator
ASC
DESC

Definition at line 19 of file pfuclt_aux.h.

Function Documentation

template<typename T >

T pfuclt_omni_dataset::calc_stdDev

(

const std::vector< T > &

vec

)

calc_stdDev - Calculates standard deviation from a vector of type T

Parameters

vec	- vector of type T with values to calculate std.dev

Returns

standard deviation as a double

Definition at line 48 of file pfuclt_aux.h.

std::vector< Landmark > pfuclt_omni_dataset::getLandmarks

(

const char *

filename

)

getLandmarks - read landmark configuration from CSV file

Parameters

filename

- the CSV file

Returns

lm_vec

Remarks

if filename empty, not found or unreadable, will return empty vector

Definition at line 7 of file pfuclt_aux.cpp.

template<typename T >

std::vector<unsigned int> pfuclt_omni_dataset::order_index	(	std::vector< T > const &	values,
		const ORDER_TYPE	order = DESC
	)

order_index - Generates a vector of indexes ordered according to another vector

Parameters

values	- vector of type T containing the values to order
order	- enum of ORDER_TYPE to order in ascending or descending order - defaults to DESC

Returns

vector of unsigned ints with the desired ordering of indexes

Remarks

vector values will not be modified

Definition at line 67 of file pfuclt_aux.h.

template<typename T >

bool pfuclt_omni_dataset::readParam	(	ros::NodeHandle &	nh,
		const std::string	name,
		T &	variable
	)

readParam - reads and returns a parameter from the ROS parameter server

Parameters

nh	- pointer to the ROS nodehandle that will perform the parameter reading task
name	- the parameter's name
variable	- pointer to the location where the parameter should be stored as type T

Returns

Definition at line 104 of file pfuclt_aux.h.

template<typename T >

bool pfuclt_omni_dataset::readParam	(	ros::NodeHandle &	nh,
		const std::string	name,
		std::vector< T > &	variable
	)

Definition at line 131 of file pfuclt_aux.h.

Variable Documentation

std::vector<double> pfuclt_omni_dataset::CUSTOM_PARTICLE_INIT

Definition at line 21 of file pfuclt_omni_dataset.cpp.

bool pfuclt_omni_dataset::DEBUG

Definition at line 23 of file pfuclt_omni_dataset.cpp.

float pfuclt_omni_dataset::K1

Definition at line 15 of file pfuclt_omni_dataset.cpp.

float pfuclt_omni_dataset::K2

Definition at line 15 of file pfuclt_omni_dataset.cpp.

float pfuclt_omni_dataset::K3

Definition at line 16 of file pfuclt_omni_dataset.cpp.

float pfuclt_omni_dataset::K4

Definition at line 16 of file pfuclt_omni_dataset.cpp.

float pfuclt_omni_dataset::K5

Definition at line 16 of file pfuclt_omni_dataset.cpp.

std::vector<Landmark> pfuclt_omni_dataset::landmarks

Definition at line 27 of file pfuclt_omni_dataset.cpp.

int pfuclt_omni_dataset::MAX_ROBOTS

Definition at line 11 of file pfuclt_omni_dataset.cpp.

int pfuclt_omni_dataset::MY_ID

Definition at line 10 of file pfuclt_omni_dataset.cpp.

int pfuclt_omni_dataset::NUM_LANDMARKS

Definition at line 13 of file pfuclt_omni_dataset.cpp.

int pfuclt_omni_dataset::NUM_TARGETS

Definition at line 12 of file pfuclt_omni_dataset.cpp.

std::vector<bool> pfuclt_omni_dataset::PLAYING_ROBOTS

Definition at line 14 of file pfuclt_omni_dataset.cpp.

std::vector<double> pfuclt_omni_dataset::POS_INIT

Definition at line 18 of file pfuclt_omni_dataset.cpp.

bool pfuclt_omni_dataset::PUBLISH

Definition at line 24 of file pfuclt_omni_dataset.cpp.

float pfuclt_omni_dataset::ROB_HT

Definition at line 17 of file pfuclt_omni_dataset.cpp.

ros::Time pfuclt_omni_dataset::timeInit

Definition at line 28 of file pfuclt_omni_dataset.cpp.

bool pfuclt_omni_dataset::USE_CUSTOM_VALUES = false

Definition at line 20 of file pfuclt_omni_dataset.cpp.