mrpt::bayes::CParticleFilterData< T > Class Template Reference

Detailed Description

template<class T>
class mrpt::bayes::CParticleFilterData< T >

This template class declares the array of particles and its internal data, managing some memory-related issues and providing an easy implementation of virtual methods required for implementing a CParticleFilterCapable.

See also the methods in the base class CParticleFilterDataImpl<>.

Since CProbabilityParticle implements all the required operators, the member "m_particles" can be safely copied with "=" or copy constructor operators and new objects will be created internally instead of copying the internal pointers, which would lead to memory corruption.

See also

CParticleFilter, CParticleFilterCapable, CParticleFilterDataImpl

Definition at line 177 of file CParticleFilterData.h.

#include <mrpt/bayes/CParticleFilterData.h>

Inheritance diagram for mrpt::bayes::CParticleFilterData< T >:

Public Types
typedef T	CParticleDataContent
	This is the type inside the corresponding CParticleData class. More...
typedef CProbabilityParticle< T >	CParticleData
	Use this to refer to each element in the m_particles array. More...
typedef std::deque< CParticleData >	CParticleList
	Use this type to refer to the list of particles m_particles. More...

Public Member Functions
	CParticleFilterData ()
	Default constructor. More...
void	clearParticles ()
	Free the memory of all the particles and reset the array "m_particles" to length zero. More...
virtual	~CParticleFilterData ()
	Virtual destructor. More...
template<class STREAM >
void	writeParticlesToStream (STREAM &out) const
	Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More...
template<class STREAM >
void	readParticlesFromStream (STREAM &in)
	Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More...
void	getWeights (std::vector< double > &out_logWeights) const
	Returns a vector with the sequence of the logaritmic weights of all the samples. More...
const CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

Public Attributes
CParticleList	m_particles
	The array of particles. More...

Member Typedef Documentation

template<class T>

typedef CProbabilityParticle<T> mrpt::bayes::CParticleFilterData< T >::CParticleData

Use this to refer to each element in the m_particles array.

Definition at line 181 of file CParticleFilterData.h.

template<class T>

typedef T mrpt::bayes::CParticleFilterData< T >::CParticleDataContent

This is the type inside the corresponding CParticleData class.

Definition at line 180 of file CParticleFilterData.h.

template<class T>

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData< T >::CParticleList

Use this type to refer to the list of particles m_particles.

Definition at line 182 of file CParticleFilterData.h.

Constructor & Destructor Documentation

template<class T>

mrpt::bayes::CParticleFilterData< T >::CParticleFilterData ( )

inline

Default constructor.

Definition at line 187 of file CParticleFilterData.h.

template<class T>

virtual mrpt::bayes::CParticleFilterData< T >::~CParticleFilterData ( )

inlinevirtual

Virtual destructor.

Definition at line 203 of file CParticleFilterData.h.

Member Function Documentation

template<class T>

void mrpt::bayes::CParticleFilterData< T >::clearParticles ( )

inline

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 192 of file CParticleFilterData.h.

Referenced by mrpt::bayes::CParticleFilterData< CRBPFParticleData >::readParticlesFromStream(), and mrpt::bayes::CParticleFilterData< CRBPFParticleData >::~CParticleFilterData().

template<class T>

const CParticleData* mrpt::bayes::CParticleFilterData< T >::getMostLikelyParticle ( ) const

inline

Returns the particle with the highest weight.

Definition at line 260 of file CParticleFilterData.h.

template<class T>

void mrpt::bayes::CParticleFilterData< T >::getWeights ( std::vector< double > &  out_logWeights ) const

inline

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 247 of file CParticleFilterData.h.

template<class T>

template<class STREAM >

void mrpt::bayes::CParticleFilterData< T >::readParticlesFromStream ( STREAM &  in )

inline

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See also

writeParticlesToStream

Definition at line 227 of file CParticleFilterData.h.

template<class T>

template<class STREAM >

void mrpt::bayes::CParticleFilterData< T >::writeParticlesToStream ( STREAM &  out ) const

inline

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See also

readParticlesFromStream

Definition at line 212 of file CParticleFilterData.h.

Member Data Documentation

template<class T>

CParticleList mrpt::bayes::CParticleFilterData< T >::m_particles

The array of particles.

Definition at line 184 of file CParticleFilterData.h.