opentl::tracker::SIRParticle Class Reference

Inherits opentl::tracker::Tracker.

List of all members.

Public Member Functions
virtual void	correct (TargetPtrVector &targets)
	correct: for each target internal state, compute the likelihood (implicit model) and update weights of particles
virtual void	init (TargetPtrVector &targets, std::vector< boost::shared_ptr< opentl::core::State > > *initStates=NULL, std::vector< boost::shared_ptr< math::SquareMatrix > > *initCovs=NULL, std::vector< int > *nHypotheses=NULL)
	Initialize: allocate internal data, and update warp for all targets.
virtual void	predict (TargetPtrVector &targets)
	predict: resample (if required) and drift particles for all targets
void	resample (TargetPtrVector &targets)
	Function to resample the particles.
void	setForceResample (bool val)
	SIRParticle (opentl::modalities::Likelihood *likelihood, opentl::modelprojection::Warp *warp)
	Constructor.
virtual	~SIRParticle ()
	Destructor.
Protected Member Functions
virtual void	output (TargetPtrVector &targets)
	Compute the output state for all targets.

---

Constructor & Destructor Documentation

opentl::tracker::SIRParticle::SIRParticle	(	opentl::modalities::Likelihood *	likelihood,
		opentl::modelprojection::Warp *	warp
	)

Constructor.

Parameters:

	likelihood	Pointer to Likelihood instance (template)
	warp	The warp class

virtual opentl::tracker::SIRParticle::~SIRParticle

(

)

[virtual]

Destructor.

---

Member Function Documentation

virtual void opentl::tracker::SIRParticle::correct

(

TargetPtrVector &

targets

)

[virtual]

correct: for each target internal state, compute the likelihood (implicit model) and update weights of particles

Parameters:

targets

Vector of targets

Implements opentl::tracker::Tracker.

virtual void opentl::tracker::SIRParticle::init	(	TargetPtrVector &	targets,
		std::vector< boost::shared_ptr< opentl::core::State > > *	initStates = NULL,
		std::vector< boost::shared_ptr< math::SquareMatrix > > *	initCovs = NULL,
		std::vector< int > *	nHypotheses = NULL
	)			[virtual]

Initialize: allocate internal data, and update warp for all targets.

Parameters:

	targets	Vector of targets
	initStates	Vector of initial states (optional); it must have same size of targets
	initCovs	Vector of initial covariances: it must be NULL, otherwise raises an exception
	nHypotheses	Number of particles for each target; it must have same size of targets

Implements opentl::tracker::Tracker.

virtual void opentl::tracker::SIRParticle::output

(

TargetPtrVector &

targets

)

[inline, protected, virtual]

Compute the output state for all targets.

Parameters:

targets

Vector of targets

Reimplemented from opentl::tracker::Tracker.

virtual void opentl::tracker::SIRParticle::predict

(

TargetPtrVector &

targets

)

[virtual]

predict: resample (if required) and drift particles for all targets

Parameters:

targets

Vector of targets

Implements opentl::tracker::Tracker.

void opentl::tracker::SIRParticle::resample

(

TargetPtrVector &

targets

)

Function to resample the particles.

Parameters:

targets

Vector of targets

void opentl::tracker::SIRParticle::setForceResample

(

bool

val

)

[inline]