vpRadarStation Class Reference

Public Member Functions
	vpRadarStation (const double &x, const double &y, const double &range_std, const double &elev_angle_std)
vpColVector	state_to_measurement (const vpColVector &chi)
vpColVector	measureGT (const vpColVector &pos)
vpColVector	measureWithNoise (const vpColVector &pos)
	vpRadarStation (const double &x, const double &y, const double &range_std, const double &elev_angle_std, const double &distMaxAllowed)
vpColVector	state_to_measurement (const vpColVector &particle)
vpColVector	measureGT (const vpColVector &pos)
vpColVector	measureWithNoise (const vpColVector &pos)
double	likelihood (const vpColVector &particle, const vpColVector &meas)

Detailed Description

Class that permits to convert the position of the aircraft into range and elevation angle measurements.

Examples

pf-nonlinear-example.cpp, and ukf-nonlinear-example.cpp.

Definition at line 184 of file ukf-nonlinear-example.cpp.

Constructor & Destructor Documentation

vpRadarStation() [1/2]

vpRadarStation::vpRadarStation ( const double &  x, const double &  y, const double &  range_std, const double &  elev_angle_std  )

inline

Construct a new vpRadarStation object.

Parameters

[in]	x	The position on the ground of the radar.
[in]	y	The altitude of the radar.
[in]	range_std	The standard deviation of the range measurements.
[in]	elev_angle_std	The standard deviation of the elevation angle measurements.

Definition at line 195 of file ukf-nonlinear-example.cpp.

vpRadarStation() [2/2]

vpRadarStation::vpRadarStation ( const double &  x, const double &  y, const double &  range_std, const double &  elev_angle_std, const double &  distMaxAllowed  )

inline

Construct a new vpRadarStation object.

Parameters

[in]	x	The position on the ground of the radar.
[in]	y	The altitude of the radar.
[in]	range_std	The standard deviation of the range measurements.
[in]	elev_angle_std	The standard deviation of the elevation angle measurements.
[in]	distMaxAllowed	Maximum distance allowed for the likelihood computation.

Definition at line 184 of file pf-nonlinear-example.cpp.

Member Function Documentation

likelihood()

double vpRadarStation::likelihood ( const vpColVector &  particle, const vpColVector &  meas  )

inline

Compute the likelihood of a particle (value between 0. and 1.) knowing the measurements. The likelihood function is based on a Gaussian function that penalizes a particle that is "far" from the position corresponding to the measurements.

Parameters

[in]	particle	The particle state.
[in]	meas	The measurements.

Returns

double The likelihood of a particle (value between 0. and 1.)

Examples

pf-nonlinear-example.cpp.

Definition at line 260 of file pf-nonlinear-example.cpp.

measureGT() [1/2]

vpColVector vpRadarStation::measureGT ( const vpColVector &  pos )

inline

Perfect measurement of the range and elevation angle that correspond to pos.

Parameters

pos	The actual position of the aircraft (pos[0]: projection of the position on the ground, pos[1]: altitude).

Returns

vpColVector [0] the range [1] the elevation angle.

Definition at line 226 of file ukf-nonlinear-example.cpp.

measureGT() [2/2]

vpColVector vpRadarStation::measureGT ( const vpColVector &  pos )

inline

Perfect measurement of the range and elevation angle that correspond to pos.

Parameters

pos	The actual position of the aircraft (pos[0]: projection of the position on the ground, pos[1]: altitude).

Returns

vpColVector [0] the range [1] the elevation angle.

Definition at line 221 of file pf-nonlinear-example.cpp.

measureWithNoise() [1/2]

vpColVector vpRadarStation::measureWithNoise ( const vpColVector &  pos )

inline

Noisy measurement of the range and elevation angle that correspond to pos.

Parameters

pos	The actual position of the aircraft (pos[0]: projection of the position on the ground, pos[1]: altitude).

Returns

vpColVector [0] the range [1] the elevation angle.

Definition at line 246 of file ukf-nonlinear-example.cpp.

measureWithNoise() [2/2]

vpColVector vpRadarStation::measureWithNoise ( const vpColVector &  pos )

inline

Noisy measurement of the range and elevation angle that correspond to pos.

Parameters

pos	The actual position of the aircraft (pos[0]: projection of the position on the ground, pos[1]: altitude).

Returns

vpColVector [0] the range [1] the elevation angle.

Definition at line 241 of file pf-nonlinear-example.cpp.

state_to_measurement() [1/2]

vpColVector vpRadarStation::state_to_measurement ( const vpColVector &  chi )

inline

Convert the prior of the UKF into the measurement space.

Parameters

chi	The prior.

Returns

vpColVector The prior expressed in the measurement space.

Examples

ukf-nonlinear-example.cpp.

Definition at line 208 of file ukf-nonlinear-example.cpp.

state_to_measurement() [2/2]

vpColVector vpRadarStation::state_to_measurement ( const vpColVector &  particle )

inline

Convert a particle of the Particle Filter into the measurement space.

Parameters

particle

The prior.

Returns

vpColVector The prior expressed in the measurement space.

Definition at line 203 of file pf-nonlinear-example.cpp.