pf.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "pf.h"
#include "robot.h"
#include "enviroment.h"
#include "debug.h"

Go to the source code of this file.

Functions
pf_t *	pf_init (int num, enviroment_t *envs, int move_noise, float turn_noise, int sense_tag_noise, int sense_wall_noise, int radius)
void	pf_destroy (pf_t *pfs)
void	pf_drive (pf_t *pfs, int distance, int angle, int uncertain)
void	pf_weight_tag (pf_t *pfs, enviroment_t *envs, int tag_num)
void	pf_weight_wall (pf_t *pfs, enviroment_t *envs)
void	pf_resample (pf_t *pfs)
void	pf_estimate (pf_t *pfs, robot_t *robot)
void	pf_random (pf_t *pfs, enviroment_t *envs, int tag_num)
int	pf_accuracy (pf_t *pfs, enviroment_t *envs)

Detailed Description

Author

Eriks Zaharans

Date

1 Jul 2013

DESCRIPTION

Particle filter library.

Definition in file pf.c.

Function Documentation

int pf_accuracy	(	pf_t *	pfs,
		enviroment_t *	envs
	)

Evaluate particle filter accuracy

Parameters

pfs	Pointer to particle filter structure
envs	Pointer to enviroment structure

Returns

Accuracy in percent

Definition at line 294 of file pf.c.

void pf_destroy

(

pf_t *

pfs

)

Deinitialize particle filter

Parameters

pfs	Pointer to particle filter structure

Returns

Void

Definition at line 84 of file pf.c.

void pf_drive	(	pf_t *	pfs,
		int	distance,
		int	angle,
		int	uncertain
	)

Move particles (drive particles) - Motion update

Parameters

pfs	Pointer to particle filter structure
distance	Distance traveled (mm)
angle	Angle change (Degrees)

Returns

Void

Definition at line 99 of file pf.c.

void pf_estimate	(	pf_t *	pfs,
		robot_t *	robot
	)

Estimate robot pose according to particles

Parameters

pfs	Pointer to particle filter structure
robot	Pointer to robot structure

Returns

Void

Definition at line 215 of file pf.c.

pf_t* pf_init	(	int	num,
		enviroment_t *	envs,
		int	move_noise,
		float	turn_noise,
		int	sense_tag_noise,
		int	sense_wall_noise,
		int	radius
	)

Initialize particle filter

Parameters

num	Number of particles
envs	Pointer to enviroment structure
move_noise	Error created during forward or backward motion (mm)
turn_noise	Error created during turning (Radians)
sense_tag_noise	Error of tag read (mm)
sense_wall_noise	Error of wall read (mm)
radius	Particle radius - should be same as robot (mm)

Returns

Pointer to particle filter structure

Definition at line 38 of file pf.c.

void pf_random	(	pf_t *	pfs,
		enviroment_t *	envs,
		int	tag_num
	)

Generate random particles near read RFID tag

Parameters

pfs	Pointer to particle filter structure
envs	Pointer to enviroment structure
tag_num	RFID tag number

Returns

Void

Definition at line 261 of file pf.c.

void pf_resample

(

pf_t *

pfs

)

Resample particles

Parameters

pfs	Pointer to particle filter structure

Returns

Void

Definition at line 152 of file pf.c.

void pf_weight_tag	(	pf_t *	pfs,
		enviroment_t *	envs,
		int	tag_num
	)

Evaluate particles depending on RFID tag

Parameters

pfs	Pointer to particle filter structure
envs	Pointer to enviroment structure
tag_num	RFID tag number

Returns

Void

Definition at line 117 of file pf.c.

void pf_weight_wall	(	pf_t *	pfs,
		enviroment_t *	envs
	)

Evaluate particles depending on how close to wall particle is

Parameters

pfs	Pointer to particle filter structure
envs	Pointer to enviroment structure
tag_num	RFID tag number

Returns

Void

Definition at line 136 of file pf.c.