#include <consecutive_counter_filter.hpp>

Inheritance diagram for ConsecutiveCounterFilter:

Collaboration diagram for ConsecutiveCounterFilter:

Public Member Functions
	ConsecutiveCounterFilter (LandmarkFilterParameters params, std::shared_ptr< DataAssociationModel > data_association)

Eigen::VectorXd	filter (const Eigen::VectorXd &observations, const Eigen::VectorXd &observation_confidences, Eigen::VectorXi &associations) override
	This function receives a new set of observations and returns a filtered set of landmarks in global coordinates that are ready to be added to be added to the map.

void	delete_landmarks (const Eigen::VectorXd &some_landmarks) override
	Used by SLAM to signal to the filter that the landmarks are already in SLAM's map, and they should no longer be returned by the filter as new.

Public Member Functions inherited from LandmarkFilter
	LandmarkFilter ()=default

	LandmarkFilter (LandmarkFilterParameters params, std::shared_ptr< DataAssociationModel > data_association)

virtual	~LandmarkFilter ()=default

Private Attributes
Eigen::VectorXd	map

Eigen::VectorXi	counter

Friends
class	ConsecutiveCounterFilter_TestCase1_Test

Additional Inherited Members
Protected Attributes inherited from LandmarkFilter
LandmarkFilterParameters	_params_

std::shared_ptr< DataAssociationModel >	_data_association_

Detailed Description

Definition at line 6 of file consecutive_counter_filter.hpp.

Constructor & Destructor Documentation

◆ ConsecutiveCounterFilter()

ConsecutiveCounterFilter::ConsecutiveCounterFilter	(	LandmarkFilterParameters	params,
		std::shared_ptr< DataAssociationModel >	data_association
	)

inline

Definition at line 12 of file consecutive_counter_filter.hpp.

Member Function Documentation

◆ delete_landmarks()

void ConsecutiveCounterFilter::delete_landmarks ( const Eigen::VectorXd & some_landmarks )

overridevirtual

Used by SLAM to signal to the filter that the landmarks are already in SLAM's map, and they should no longer be returned by the filter as new.

Parameters

some_landmarks landmarks to be deleted in the form of [x1, y1, x2, y2, ...] in the global frame

Implements LandmarkFilter.

Definition at line 84 of file consecutive_counter_filter.cpp.

◆ filter()

Eigen::VectorXd ConsecutiveCounterFilter::filter	(	const Eigen::VectorXd &	observations,
		const Eigen::VectorXd &	observation_confidences,
		Eigen::VectorXi &	associations
	)

overridevirtual

This function receives a new set of observations and returns a filtered set of landmarks in global coordinates that are ready to be added to be added to the map.

This filter keeps track of how many consecutive times an observation has been seen. If an observation has been seen more than minimum_observation_count_ times consecutively, it is added to the map and returned as a new landmark. If an observation is not seen in a given call to filter, its counter is reset.

Parameters

observations	Observations in the form of [x1, y1, x2, y2, ...] in the global frame
observation_confidences	Confidence in the observations in the same order as the observations

Returns: Eigen::VectorXd the filtered observations in the form of [x1, y1, x2, y2, ...] in the global frame

Implements LandmarkFilter.

Definition at line 6 of file consecutive_counter_filter.cpp.

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Friends And Related Symbol Documentation

◆ ConsecutiveCounterFilter_TestCase1_Test

friend class ConsecutiveCounterFilter_TestCase1_Test

friend

Definition at line 34 of file consecutive_counter_filter.hpp.

Member Data Documentation

◆ counter

Eigen::VectorXi ConsecutiveCounterFilter::counter

private

Definition at line 9 of file consecutive_counter_filter.hpp.

◆ map

Eigen::VectorXd ConsecutiveCounterFilter::map

private

Definition at line 8 of file consecutive_counter_filter.hpp.

The documentation for this class was generated from the following files:

src/perception_sensor_lib/include/perception_sensor_lib/landmark_filter/consecutive_counter_filter.hpp
src/perception_sensor_lib/src/landmark_filter/consecutive_counter_filter.cpp

Public Member Functions

Private Attributes

Friends

Additional Inherited Members