Node that uses a particle filter to track targets in a 2D grid map of marine radar data. More...

#include <particle_filter_node.hpp>

Inheritance diagram for echoflow::ParticleFilterNode:

Collaboration diagram for echoflow::ParticleFilterNode:

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Classes
struct	Parameters
	All configurable parameters for the particle filter node. More...

Public Member Functions
	ParticleFilterNode ()
	Construct a new Particle Filter Node object.

Public Attributes
std::shared_ptr< grid_map::GridMap >	map_ptr_
	Shared pointer to the underlying grid map of radar intensity & EDT layers.

Protected Attributes
Parameters	parameters_
	Runtime parameters.

Detailed Description

Node that uses a particle filter to track targets in a 2D grid map of marine radar data.

This node shares a pointer to a grid map with the radar_grid_map_node and spawns particles on areas of the map with valid radar returns in order to track the position and course of moving radar targets.

The node publishes a pointcloud of particles and a grid map with aggregated statistics on the particles (number of particles per cell, mean and standard deviation of particle age, x-position, y-position, course and velocity).

Constructor & Destructor Documentation

◆ ParticleFilterNode()

ParticleFilterNode::ParticleFilterNode ( )

Construct a new Particle Filter Node object.

Also creates grid map to compute and publish the following particle filter statistics for each cell:

Number of particles per cell

Particle age: Mean age of particles in the cell (arithmetic mean)

Particle age: Sum of squared deviations from mean (used to compute variance)

Particle age: Standard deviation of particle age

x-position: Mean of x-position of particles in cell (arithmetic mean)

x-position: Sum of squared deviations from mean (used to compute variance)

x-position: Standard deviation of x-position of particles

y-position: Mean of x-position of particles in cell (arithmetic mean)

y-position: Sum of squared deviations from mean (used to compute variance)

y-position: Standard deviation of y-position of particles

Speed: Mean speed of particles in the cell (arithmetic mean)

Speed: Sum of squared deviations from mean (used to compute variance)

Speed: Standard deviation of speed of particles

Course: Mean course angle of particles in the cell (circular mean)

Course: Standard deviation of course angle of particles in cell (circular standard deviation)

Sum of sines of course angles (used for calculating circular statistics)

Sum of cosines of course angles (used for calculating circular statistics)

Member Data Documentation

◆ map_ptr_

std::shared_ptr<grid_map::GridMap> echoflow::ParticleFilterNode::map_ptr_

Shared pointer to the underlying grid map of radar intensity & EDT layers.

◆ parameters_

Parameters echoflow::ParticleFilterNode::parameters_

protected

Runtime parameters.

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

echoflow/include/echoflow/particle_filter_node.hpp
echoflow/src/particle_filter_node.cpp

Classes

Public Member Functions