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mrpt::bayes::CParticleFilter::TParticleFilterOptions Struct Reference

The configuration of a particle filter. More...

#include <mrpt/bayes/CParticleFilter.h>

Inheritance diagram for mrpt::bayes::CParticleFilter::TParticleFilterOptions:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TParticleFilterOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See mrpt::utils::CLoadableOptions.
void dumpToTextStream (mrpt::utils::CStream &out) const
 See mrpt::utils::CLoadableOptions.

Public Attributes

bool adaptiveSampleSize
 A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false).
double BETA
 The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5).
unsigned int sampleSize
 The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1).
unsigned int pfAuxFilterOptimal_MaximumSearchSamples
 In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", the number of samples for searching the maximum likelihood value (see papers!) (default=100).
double powFactor
 An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects).
TParticleFilterAlgorithm PF_algorithm
 The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities.
TParticleResamplingAlgorithm resamplingMethod
 The resampling algorithm to use (default=prMultinomial).
double max_loglikelihood_dyn_range
 Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded.


Detailed Description

The configuration of a particle filter.

Definition at line 103 of file CParticleFilter.h.


Constructor & Destructor Documentation

mrpt::bayes::CParticleFilter::TParticleFilterOptions::TParticleFilterOptions (  ) 

Initilization of default parameters.


Member Function Documentation

void mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream ( mrpt::utils::CStream out  )  const [virtual]

void mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]


Member Data Documentation

A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false).

Definition at line 122 of file CParticleFilter.h.

The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5).

Definition at line 126 of file CParticleFilter.h.

Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded.

This is done to assure that the rejection sampling doesn't get stuck in an infinite loop trying to get an acceptable sample. Default = 15 (in logarithmic likelihood)

Definition at line 153 of file CParticleFilter.h.

The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities.

Definition at line 142 of file CParticleFilter.h.

In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", the number of samples for searching the maximum likelihood value (see papers!) (default=100).

Definition at line 134 of file CParticleFilter.h.

An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects).

Definition at line 138 of file CParticleFilter.h.

The resampling algorithm to use (default=prMultinomial).

Definition at line 146 of file CParticleFilter.h.

The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1).

Definition at line 130 of file CParticleFilter.h.




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