Class handler for tree nodes. More...
#include <types_declaration.h>
Public Types | |
| enum | e_mode { NEW, MAIN, SIBLING, FAILED, TEST } |
associations More... | |
Public Member Functions | |
| void | CommonConstructor () |
| Function common to all constructors. | |
| string | GetName () |
| Get the name of this node, used everywhere!!! | |
| void | IncreaseAge (int increment=1) |
| Increase the age on the node. | |
| void | Step () |
| Step the filter of this node using measurements in the vector z. | |
| t_node (t_node &node, long iteration) | |
| Constructor for the node based on a previous node and no new data. | |
| t_node (t_node &node, t_cluster &cluster, long iteration) | |
| Constructor for the node based on a previous node and the data from a new cluster. | |
| t_node (t_cluster &cluster, long iteration) | |
| Constructor for the node based on a cluster. | |
| ~t_node (void) | |
| Destructor of the node class. | |
Public Attributes | |
| long | age |
| Number of iterations that this node suffered. | |
| long | data_iteration |
| Iteration from the data used in its creation. | |
| constant_velocity_ekfilter | estimator |
| Local estimator for process, Kalman filter with a constant velocity. | |
| int | failed_associations_counter |
| Number of iterations with failed associations. | |
| long | id |
| Id of the node. | |
| t_cluster | local_cluster |
| Support points for this node. | |
| visualization_msgs::Marker | marker |
| Marker for rviz. | |
| enum t_node::e_mode | mode |
| associations | |
| Matrix4d | P |
| Posteriori error covariance. | |
| int | successful_association_counter |
| Number of iterations with successful associations. | |
| Vector4d | x |
| Estimated state. | |
| Vector4d | x_p |
| Predicted x. | |
| Vector2d | z |
| Measurement vector. | |
Class handler for tree nodes.
This class will hold all the information on the tree nodes, each node will correspond to a possible association of the parent node.
The node is compromised of a morphology representation, a process estimator, ... (in continuous expansion)
Definition at line 282 of file types_declaration.h.
| enum t_node::e_mode |
associations
Definition at line 306 of file types_declaration.h.
| t_node::t_node | ( | t_cluster & | cluster, | |
| long | iteration | |||
| ) |
Constructor for the node based on a cluster.
This constructor is typically called when there's no prior to this node.
| cluster | Supporting cluster points | |
| iteration | cluster data iteration |
Definition at line 362 of file types_implementation.cpp.
Constructor for the node based on a previous node and the data from a new cluster.
This constructor is called when the new node is the son of a previous one
| node | inherited node | |
| cluster | Supporting cluster points | |
| iteration | cluster data iteration |
Definition at line 392 of file types_implementation.cpp.
| t_node::t_node | ( | t_node & | node, | |
| long | iteration | |||
| ) |
Constructor for the node based on a previous node and no new data.
This constructor is called when no association was made and the node is iterated empty
| node | inherited node | |
| iteration | cluster data iteration |
Definition at line 414 of file types_implementation.cpp.
| t_node::~t_node | ( | void | ) |
Destructor of the node class.
Definition at line 438 of file types_implementation.cpp.
| void t_node::CommonConstructor | ( | ) |
Function common to all constructors.
Definition at line 356 of file types_implementation.cpp.
| string t_node::GetName | ( | ) |
Get the name of this node, used everywhere!!!
Definition at line 443 of file types_implementation.cpp.
| void t_node::IncreaseAge | ( | int | increment = 1 |
) |
Increase the age on the node.
This functions only increases the age variable of this node.
| increment | age increment, default is 1 |
Definition at line 295 of file types_implementation.cpp.
| void t_node::Step | ( | ) |
Step the filter of this node using measurements in the vector z.
Definition at line 300 of file types_implementation.cpp.
| long t_node::age |
Number of iterations that this node suffered.
Definition at line 304 of file types_declaration.h.
Iteration from the data used in its creation.
Definition at line 310 of file types_declaration.h.
Local estimator for process, Kalman filter with a constant velocity.
Definition at line 290 of file types_declaration.h.
Number of iterations with failed associations.
Definition at line 300 of file types_declaration.h.
| long t_node::id |
Id of the node.
Definition at line 308 of file types_declaration.h.
Support points for this node.
Definition at line 288 of file types_declaration.h.
| visualization_msgs::Marker t_node::marker |
Marker for rviz.
Definition at line 313 of file types_declaration.h.
associations
| Matrix4d t_node::P |
Posteriori error covariance.
Definition at line 298 of file types_declaration.h.
Number of iterations with successful associations.
Definition at line 302 of file types_declaration.h.
| Vector4d t_node::x |
Estimated state.
Definition at line 292 of file types_declaration.h.
| Vector4d t_node::x_p |
Predicted x.
Definition at line 294 of file types_declaration.h.
| Vector2d t_node::z |
Measurement vector.
Definition at line 296 of file types_declaration.h.
