Bayes Filters Library
Public Member Functions | Public Attributes | Protected Attributes | List of all members
bfl::GaussianMixture Class Reference

#include <GaussianMixture.h>

Inheritance diagram for bfl::GaussianMixture:
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Public Member Functions

 GaussianMixture () noexcept
 
 GaussianMixture (const std::size_t components, const std::size_t dim) noexcept
 
 GaussianMixture (const std::size_t components, const std::size_t dim_linear, const std::size_t dim_circular, const bool use_quaternion=false) noexcept
 
virtual ~GaussianMixture () noexcept=default
 
virtual void resize (const std::size_t components, const std::size_t dim_linear, const std::size_t dim_circular=0)
 
Eigen::Ref< Eigen::MatrixXd > mean ()
 
Eigen::Ref< Eigen::VectorXd > mean (const std::size_t i)
 
double & mean (const std::size_t i, const std::size_t j)
 
const Eigen::Ref< const Eigen::MatrixXd > mean () const
 
const Eigen::Ref< const Eigen::VectorXd > mean (const std::size_t i) const
 
const double & mean (const std::size_t i, const std::size_t j) const
 
Eigen::Ref< Eigen::MatrixXd > covariance ()
 
Eigen::Ref< Eigen::MatrixXd > covariance (const std::size_t i)
 
double & covariance (const std::size_t i, const std::size_t j, const std::size_t k)
 
const Eigen::Ref< const Eigen::MatrixXd > covariance () const
 
const Eigen::Ref< const Eigen::MatrixXd > covariance (const std::size_t i) const
 
const double & covariance (const std::size_t i, const std::size_t j, const std::size_t k) const
 
Eigen::Ref< Eigen::VectorXd > weight ()
 
double & weight (const std::size_t i)
 
const Eigen::Ref< const Eigen::VectorXd > weight () const
 
const double & weight (const std::size_t i) const
 
bool augmentWithNoise (const Eigen::Ref< const Eigen::MatrixXd > &noise_covariance_matrix)
 

Public Attributes

std::size_t components
 
bool use_quaternion
 
std::size_t dim_circular_component
 
std::size_t dim
 
std::size_t dim_linear
 
std::size_t dim_circular
 
std::size_t dim_noise
 
std::size_t dim_covariance
 

Protected Attributes

Eigen::MatrixXd mean_
 
Eigen::MatrixXd covariance_
 
Eigen::VectorXd weight_
 

Detailed Description

Definition at line 20 of file GaussianMixture.h.

Constructor & Destructor Documentation

◆ GaussianMixture() [1/3]

GaussianMixture::GaussianMixture ( )
noexcept

Definition at line 14 of file GaussianMixture.cpp.

◆ GaussianMixture() [2/3]

GaussianMixture::GaussianMixture ( const std::size_t  components,
const std::size_t  dim 
)
noexcept

Definition at line 19 of file GaussianMixture.cpp.

◆ GaussianMixture() [3/3]

GaussianMixture::GaussianMixture ( const std::size_t  components,
const std::size_t  dim_linear,
const std::size_t  dim_circular,
const bool  use_quaternion = false 
)
noexcept

Definition at line 25 of file GaussianMixture.cpp.

◆ ~GaussianMixture()

virtual bfl::GaussianMixture::~GaussianMixture ( )
virtualdefaultnoexcept

Member Function Documentation

◆ augmentWithNoise()

bool GaussianMixture::augmentWithNoise ( const Eigen::Ref< const Eigen::MatrixXd > &  noise_covariance_matrix)

Definition at line 190 of file GaussianMixture.cpp.

Referenced by bfl::UKFCorrection::correctStep(), and bfl::UKFPrediction::predictStep().

◆ covariance() [1/6]

const Ref< const MatrixXd > GaussianMixture::covariance ( )

Definition at line 130 of file GaussianMixture.cpp.

Referenced by bfl::KFCorrection::correctStep(), bfl::UKFCorrection::correctStep(), bfl::GPFCorrection::correctStep(), bfl::SUKFCorrection::correctStep(), bfl::KFPrediction::predictStep(), bfl::ResamplingWithPrior::resample(), bfl::Resampling::resample(), bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ covariance() [2/6]

const Eigen::Ref<const Eigen::MatrixXd> bfl::GaussianMixture::covariance ( ) const

◆ covariance() [3/6]

Ref< MatrixXd > GaussianMixture::covariance ( const std::size_t  i)

Definition at line 136 of file GaussianMixture.cpp.

◆ covariance() [4/6]

const Ref< const MatrixXd > GaussianMixture::covariance ( const std::size_t  i) const

Definition at line 154 of file GaussianMixture.cpp.

◆ covariance() [5/6]

double & GaussianMixture::covariance ( const std::size_t  i,
const std::size_t  j,
const std::size_t  k 
)

Definition at line 142 of file GaussianMixture.cpp.

◆ covariance() [6/6]

const double & GaussianMixture::covariance ( const std::size_t  i,
const std::size_t  j,
const std::size_t  k 
) const

Definition at line 160 of file GaussianMixture.cpp.

◆ mean() [1/6]

const Ref< const MatrixXd > GaussianMixture::mean ( )

Definition at line 94 of file GaussianMixture.cpp.

Referenced by bfl::KFCorrection::correctStep(), bfl::UKFCorrection::correctStep(), bfl::GPFCorrection::correctStep(), bfl::SUKFCorrection::correctStep(), bfl::KFPrediction::predictStep(), bfl::ResamplingWithPrior::resample(), bfl::Resampling::resample(), bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ mean() [2/6]

const Eigen::Ref<const Eigen::MatrixXd> bfl::GaussianMixture::mean ( ) const

◆ mean() [3/6]

Ref< VectorXd > GaussianMixture::mean ( const std::size_t  i)

Definition at line 100 of file GaussianMixture.cpp.

◆ mean() [4/6]

const Ref< const VectorXd > GaussianMixture::mean ( const std::size_t  i) const

Definition at line 118 of file GaussianMixture.cpp.

◆ mean() [5/6]

double & GaussianMixture::mean ( const std::size_t  i,
const std::size_t  j 
)

Definition at line 106 of file GaussianMixture.cpp.

◆ mean() [6/6]

const double & GaussianMixture::mean ( const std::size_t  i,
const std::size_t  j 
) const

Definition at line 124 of file GaussianMixture.cpp.

◆ resize()

void GaussianMixture::resize ( const std::size_t  components,
const std::size_t  dim_linear,
const std::size_t  dim_circular = 0 
)
virtual

Reimplemented in bfl::ParticleSet.

Definition at line 64 of file GaussianMixture.cpp.

Referenced by bfl::ParticleSet::resize(), and bfl::Gaussian::resize().

◆ weight() [1/4]

const Ref< const VectorXd > GaussianMixture::weight ( )

Definition at line 166 of file GaussianMixture.cpp.

Referenced by bfl::BootstrapCorrection::correctStep(), bfl::GPFCorrection::correctStep(), bfl::InitSurveillanceAreaGrid::initialize(), bfl::DrawParticles::predictStep(), bfl::GPFPrediction::predictStep(), bfl::ResamplingWithPrior::resample(), and bfl::Resampling::resample().

◆ weight() [2/4]

const Eigen::Ref<const Eigen::VectorXd> bfl::GaussianMixture::weight ( ) const

◆ weight() [3/4]

double & GaussianMixture::weight ( const std::size_t  i)

Definition at line 172 of file GaussianMixture.cpp.

◆ weight() [4/4]

const double & GaussianMixture::weight ( const std::size_t  i) const

Definition at line 184 of file GaussianMixture.cpp.

Member Data Documentation

◆ components

std::size_t bfl::GaussianMixture::components

Definition at line 67 of file GaussianMixture.h.

Referenced by bfl::KFCorrection::correctStep(), bfl::UKFCorrection::correctStep(), bfl::GPFCorrection::correctStep(), bfl::SUKFCorrection::correctStep(), bfl::ParticleSet::operator+=(), bfl::KFPrediction::predictStep(), bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ covariance_

Eigen::MatrixXd bfl::GaussianMixture::covariance_
protected

Definition at line 86 of file GaussianMixture.h.

Referenced by bfl::ParticleSet::operator+=().

◆ dim

std::size_t bfl::GaussianMixture::dim

Definition at line 73 of file GaussianMixture.h.

Referenced by bfl::SUKFCorrection::correctStep(), and bfl::sigma_point::sigma_point().

◆ dim_circular

std::size_t bfl::GaussianMixture::dim_circular

Definition at line 77 of file GaussianMixture.h.

Referenced by bfl::SUKFCorrection::correctStep(), bfl::ResamplingWithPrior::resample(), bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ dim_circular_component

std::size_t bfl::GaussianMixture::dim_circular_component

Definition at line 71 of file GaussianMixture.h.

◆ dim_covariance

std::size_t bfl::GaussianMixture::dim_covariance

Definition at line 81 of file GaussianMixture.h.

Referenced by bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ dim_linear

std::size_t bfl::GaussianMixture::dim_linear

Definition at line 75 of file GaussianMixture.h.

Referenced by bfl::SUKFCorrection::correctStep(), bfl::ResamplingWithPrior::resample(), bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ dim_noise

std::size_t bfl::GaussianMixture::dim_noise

Definition at line 79 of file GaussianMixture.h.

Referenced by bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ mean_

Eigen::MatrixXd bfl::GaussianMixture::mean_
protected

Definition at line 84 of file GaussianMixture.h.

Referenced by bfl::ParticleSet::operator+=().

◆ use_quaternion

bool bfl::GaussianMixture::use_quaternion

Definition at line 69 of file GaussianMixture.h.

Referenced by bfl::sigma_point::sigma_point(), and bfl::sigma_point::unscented_transform().

◆ weight_

Eigen::VectorXd bfl::GaussianMixture::weight_
protected

Definition at line 88 of file GaussianMixture.h.

Referenced by bfl::ParticleSet::operator+=().

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