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Echoflow
1.0.0
A ROS2 Toolset for tracking marine radar targets
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Echoflow
1.0.0
A ROS2 Toolset for tracking marine radar targets
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All configurable parameters for the particle filter node. More...
#include <particle_filter_node.hpp>
Public Member Functions | |
| void | declare (rclcpp::Node *node) |
| Declares all node parameters. | |
| void | update (rclcpp::Node *node) |
| Updates all node parameters. | |
Public Attributes | ||
| struct { | ||
| int num_particles = 100000 | ||
| Total number of particles used in the filter. More... | ||
| double update_interval = 0.2 | ||
| Time (in seconds) between particle weight updates. More... | ||
| double initial_max_speed = 20.0 | ||
| Maximum speed (m/s) assigned to particles during initialization. More... | ||
| double observation_sigma = 50.0 | ||
| Standard deviation (m) of the observation likelihood model. More... | ||
| double weight_decay_half_life = 3.0 | ||
| Half-life (in seconds) for exponential decay of particle weights. More... | ||
| double seed_fraction = 0.001 | ||
| Fraction of particles (per second) that are reseeded with random poses on each resample step. More... | ||
| double noise_std_position = 0.1 | ||
| Standard deviation (m) of positional noise added during resampling. More... | ||
| double noise_std_yaw = 0.05 | ||
| Standard deviation (radians) of yaw angle noise added during resampling. More... | ||
| double noise_std_yaw_rate = 0.0 | ||
| Standard deviation (radians/sec) of yaw rate noise added during resampling. More... | ||
| double noise_std_speed = 0.2 | ||
| Standard deviation (m/s) of speed noise added during resampling. More... | ||
| double maximum_target_size = 200.0 | ||
| Maximum physical size (in meters) for a trackable target blob. More... | ||
| double density_feedback_factor = 0.8 | ||
| Density (particles/m²) at which the weight of a particle will be reduced by half. More... | ||
| } | particle_filter | |
| Parameters controlling the behavior of the particle filter. | ||
| struct { | ||
| std::string frame_id = "map" | ||
| Coordinate frame in which the particle statistics map is published. More... | ||
| double length = 2500.0 | ||
| Length (in meters) of the grid map. More... | ||
| double width = 2500.0 | ||
| Width (in meters) of the grid map. More... | ||
| double resolution = 25.0 | ||
| Resolution of each grid cell (in meters). More... | ||
| double pub_interval = 0.5 | ||
| Time interval (in seconds) between publishing the statistics map. More... | ||
| } | particle_filter_statistics | |
| Parameters defining the statistical grid map used for monitoring particle behavior. | ||
All configurable parameters for the particle filter node.
| NS_HEAD void ParticleFilterNode::Parameters::declare | ( | rclcpp::Node * | node | ) |
Declares all node parameters.
| node | Pointer to the ROS2 node for parameter declaration. |
Copyright © 2025 Seaward Science.
| void ParticleFilterNode::Parameters::update | ( | rclcpp::Node * | node | ) |
Updates all node parameters.
| node | Pointer to the ROS2 node for parameter update. |
| double echoflow::ParticleFilterNode::Parameters::density_feedback_factor = 0.8 |
Density (particles/m²) at which the weight of a particle will be reduced by half.
Lower this value if particles cluster too aggressively on single targets.
| std::string echoflow::ParticleFilterNode::Parameters::frame_id = "map" |
Coordinate frame in which the particle statistics map is published.
| double echoflow::ParticleFilterNode::Parameters::initial_max_speed = 20.0 |
Maximum speed (m/s) assigned to particles during initialization.
| double echoflow::ParticleFilterNode::Parameters::length = 2500.0 |
Length (in meters) of the grid map.
| double echoflow::ParticleFilterNode::Parameters::maximum_target_size = 200.0 |
Maximum physical size (in meters) for a trackable target blob.
Used to reduce computational load on large targets like shorelines.
| double echoflow::ParticleFilterNode::Parameters::noise_std_position = 0.1 |
Standard deviation (m) of positional noise added during resampling.
| double echoflow::ParticleFilterNode::Parameters::noise_std_speed = 0.2 |
Standard deviation (m/s) of speed noise added during resampling.
| double echoflow::ParticleFilterNode::Parameters::noise_std_yaw = 0.05 |
Standard deviation (radians) of yaw angle noise added during resampling.
| double echoflow::ParticleFilterNode::Parameters::noise_std_yaw_rate = 0.0 |
Standard deviation (radians/sec) of yaw rate noise added during resampling.
| int echoflow::ParticleFilterNode::Parameters::num_particles = 100000 |
Total number of particles used in the filter.
| double echoflow::ParticleFilterNode::Parameters::observation_sigma = 50.0 |
Standard deviation (m) of the observation likelihood model.
| struct { ... } echoflow::ParticleFilterNode::Parameters::particle_filter |
Parameters controlling the behavior of the particle filter.
| struct { ... } echoflow::ParticleFilterNode::Parameters::particle_filter_statistics |
Parameters defining the statistical grid map used for monitoring particle behavior.
| double echoflow::ParticleFilterNode::Parameters::pub_interval = 0.5 |
Time interval (in seconds) between publishing the statistics map.
| double echoflow::ParticleFilterNode::Parameters::resolution = 25.0 |
Resolution of each grid cell (in meters).
| double echoflow::ParticleFilterNode::Parameters::seed_fraction = 0.001 |
Fraction of particles (per second) that are reseeded with random poses on each resample step.
Increase this value to more quickly lock on to newly detected targets.
| double echoflow::ParticleFilterNode::Parameters::update_interval = 0.2 |
Time (in seconds) between particle weight updates.
| double echoflow::ParticleFilterNode::Parameters::weight_decay_half_life = 3.0 |
Half-life (in seconds) for exponential decay of particle weights.
Lower values cause weights to fade more quickly over time. This should generally be on the order of the radar sweep time.
| double echoflow::ParticleFilterNode::Parameters::width = 2500.0 |
Width (in meters) of the grid map.
1.13.2