iLab Neuromorphic Robotics Toolkit  0.1
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test-UKF.C File Reference

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License

// ////////////////////////////////////////////////////////////////////////
//              The iLab Neuromorphic Robotics Toolkit (NRT)             //
// Copyright 2010-2012 by the University of Southern California (USC)    //
//                          and the iLab at USC.                         //
//                                                                       //
//                iLab - University of Southern California               //
//                Hedco Neurociences Building, Room HNB-10               //
//                    Los Angeles, Ca 90089-2520 - USA                   //
//                                                                       //
//      See http://ilab.usc.edu for information about this project.      //
// ////////////////////////////////////////////////////////////////////////
// This file is part of The iLab Neuromorphic Robotics Toolkit.          //
//                                                                       //
// The iLab Neuromorphic Robotics Toolkit is free software: you can      //
// redistribute it and/or modify it under the terms of the GNU General   //
// Public License as published by the Free Software Foundation, either   //
// version 3 of the License, or (at your option) any later version.      //
//                                                                       //
// The iLab Neuromorphic Robotics Toolkit is distributed in the hope     //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the    //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR       //
// PURPOSE.  See the GNU General Public License for more details.        //
//                                                                       //
// You should have received a copy of the GNU General Public License     //
// along with The iLab Neuromorphic Robotics Toolkit.  If not, see       //
// <http://www.gnu.org/licenses/>.                                       //
// ////////////////////////////////////////////////////////////////////////

Definition in file test-UKF.C.

Go to the source code of this file.

Typedefs

typedef nrt::StateDefinition
< Position, Velocity > 
VehicleState
 
typedef nrt::StateDefinition
< PolarPosition > 
VehicleObservation
 

Functions

std::mt19937 randomgen (rd())
 
 NRT_CREATE_STATE_FIELD_GROUP (Position,(x)(y)(theta))
 
 NRT_CREATE_STATE_FIELD_GROUP (Velocity,(translational)(angular))
 
 NRT_CREATE_STATE_FIELD_GROUP (PolarPosition,(range)(angle))
 
nrt::StateVector< VehicleStatemoveVehicle (nrt::StateVector< VehicleState > const &currentPosition)
 
nrt::StateVector
< VehicleObservation
takeMeasurement (nrt::StateVector< VehicleState > const &vehicleState)
 
void drawVehicle (nrt::Image< nrt::PixRGB< nrt::byte >> &image, nrt::StateVector< VehicleState > const &currentPosition, nrt::PixRGBA< nrt::byte > const &color, int thickness)
 
void drawPrediction (nrt::Image< nrt::PixRGB< nrt::byte >> &image, nrt::GaussianPDF< VehicleState > const &currentPosition, nrt::PixRGBA< nrt::byte > const &color, int thickness)
 
void drawMeasurement (nrt::Image< nrt::PixRGB< nrt::byte >> &image, nrt::StateVector< VehicleObservation > const &observation)
 
int main (int argc, const char **argv)
 

Variables

nrt::Dims< int > worldDims (640, 480)
 
double translationalNoise = 0.09
 
double angularNoise = 0.002
 
double sensingRangeNoise = 15
 
double sensingAngleNoise = 0.01
 
std::random_device rd
 
nrt::Image< nrt::PixRGB
< nrt::byte > > 
worldImage