Cognitoware.Robotics.dll
Class HistogramFilter<X, U, Z>
X: The type of x being tracked.
U: The type of action applied to the x.
Z: The type of x about the x.
System.Object
Cognitoware.Robotics.StateEstimation.HistogramFilter<X, U, Z>
Implemented Interfaces
Summary
A Bayes filter that operates on histograms.
Constructor Summary
Method Summary
Updates a belief with a sensor model and a sensor.
Equals(Object)
Inherited from System.Object
Finalize()
Inherited from System.Object
GetHashCode()
Inherited from System.Object
GetType()
Inherited from System.Object
Marginalize(ActionModel<U>, RandomDistribution<U>, CompleteHistogram<X>)
Updates a belief with an action model and a distribution of possible actions.
Updates a belief with an action model and an action.
MemberwiseClone()
Inherited from System.Object
ToString()
Inherited from System.Object
Updates the x with the specified action.
Update the x with the specified observation.
Constructor Details
Method Details
public CompleteHistogram<X> BayesianInference(SensorModel<Z> model, Z observation, CompleteHistogram<X> belief)
Updates a belief with a sensor model and a sensor.
This function allows you to update a belief that is different than the filter belief
with a sensor model that is different than the filter sensor model.
Parameters:
model - The sensor model to use for the belief update.
observation - The observation to use for the belief update.
belief - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public CompleteHistogram<X> Marginalize(ActionModel<U> model, RandomDistribution<U> action, CompleteHistogram<X> state)
Updates a belief with an action model and an distribution of possible actions.
This function allows you to update a belief that is different than the filter belief
with an action model that is different than the filter action model.
The number of samples specified by the filter are used.
Parameters:
model - The action model to use for the belief update.
action - The distribution of actions to use for the belief update.
x - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public CompleteHistogram<X> Marginalize(ActionModel<U> model, U action, CompleteHistogram<X> state)
Updates a belief with an action model and an action.
This function allows you to update a belief that is different than the filter belief
with an action model that is different than the filter action model.
The number of samples specified by the filter are used.
Parameters:
model - The action model to use for the belief update.
action - The action to use for the belief update.
x - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public final virtual void UpdateBeliefWithAction(U action)
Updates the x with the specified action.
Parameters:
action - The action used to update the x belief.
public final virtual void UpdateBeliefWithObservation(Z observation)
Update the x with the specified observation.
Parameters:
observation - The observation used to update the x belief.