Mobile Robot Control 2024 Ultron:Solution 4: Difference between revisions

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'''1.How is the code is structured?'''
'''1.How is the code is structured?'''


* The <code>ParticleFilter</code> class inherits from the <code>ParticleFilterBase</code> class.
*
* <code>ParticleFilterBase</code> contains the foundational implementation and common functionalities for the particle filter, such as particle initialization, propagation, weight computation, and resampling strategies.
* <code>ParticleFilter</code> extends <code>ParticleFilterBase</code> by adding specific update and resampling strategies.


'''2.What is the difference between the ParticleFilter and ParticleFilterBase classes, and how are they related to each'''
'''2.What is the difference between the ParticleFilter and ParticleFilterBase classes, and how are they related to each'''
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'''3.How are the ParticleFilter and Particle class related to eachother?'''
'''3.How are the ParticleFilter and Particle class related to eachother?'''


* The <code>ParticleFilter</code> class uses a <code>ParticleList</code> member variable <code>_particles</code> to store all the particles, where <code>ParticleList</code> is defined as <code>std::vector<Particle></code>.
*
* The <code>ParticleFilter</code> class manages and operates on these particles, including initializing, propagating, and resampling them.
* Each <code>Particle</code> instance represents an individual particle, containing pose information and relevant methods for its manipulation.


'''4.Both the ParticleFilterBase and Particle classes implement a propagation method. What is the difference between the''' '''methods?'''
'''4.Both the ParticleFilterBase and Particle classes implement a propagation method. What is the difference between the''' '''methods?'''
* In <code>ParticleFilterBase</code>, the propagation method is <code>propagateSamples(Pose dPose)</code>, which propagates the poses of all particles based on odometry information and random noise.
* In the <code>Particle</code> class, the propagation method is <code>propagateSample(const Pose &dPose, const double proc_noise[2], const double offset_angle)</code>, which propagates the pose of a single particle based on the given displacement and noise.
* Differences:
** The propagation method in <code>ParticleFilterBase</code> is designed to handle the propagation of all particles, while the method in the <code>Particle</code> class deals with the propagation of an individual particle.
** The <code>ParticleFilterBase</code> propagation method typically calls the <code>Particle</code> propagation method to update each particle's pose.
=== 1. Assignments for the first week ===
=== 1. Assignments for the first week ===


Revision as of 14:06, 3 June 2024

0. Assignment introduction

0.1 Explore the code framework

1.How is the code is structured?

2.What is the difference between the ParticleFilter and ParticleFilterBase classes, and how are they related to each

other?

  • Differences:
    • ParticleFilterBase provides the basic functionalities and interfaces of the particle filter, including particle initialization, propagation, weight computation, and setting resampling strategies.
    • ParticleFilter inherits from ParticleFilterBase and implements specific update and resampling strategies. It extends the base class by providing concrete implementations for the update and configureResampler methods.
  • Relationship:
    • ParticleFilter is a subclass of ParticleFilterBase, inheriting all its attributes and methods while overriding or extending some of them to provide additional functionalities.

3.How are the ParticleFilter and Particle class related to eachother?

4.Both the ParticleFilterBase and Particle classes implement a propagation method. What is the difference between the methods?

1. Assignments for the first week

1.1 Initialize the Particle Filter

1.2 Calculate the pose estimate

1.3 Propagate the particles with odometry

2. Assignment for the second week

2.1 Correct the particles with LiDAR

2.2 Re-sample the particles

2.3 Test on the physical setup
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