Mobile Robot Control 2024 Ultron:Solution 4

0. Assignment introduction

0.1 Explore the code framework

1.How is the code is structured?

• The code is structured into several header files, with ParticleFilter.h and ParticleFilterBase.h being the main ones.
• The ParticleFilter class inherits from the ParticleFilterBase class.
• ParticleFilterBase contains the foundational implementation and common functionalities for the particle filter, such as particle initialization, propagation, weight computation, and resampling strategies.
• ParticleFilter extends ParticleFilterBase 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

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?

• The ParticleFilter class uses a ParticleList member variable _particles to store all the particles, where ParticleList is defined as std::vector<Particle>.
• The ParticleFilter class manages and operates on these particles, including initializing, propagating, and resampling them.
• Each Particle 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?

• In ParticleFilterBase, the propagation method is propagateSamples(Pose dPose), which propagates the poses of all particles based on odometry information and random noise.
• In the Particle class, the propagation method is propagateSample(const Pose &dPose, const double proc_noise[2], const double offset_angle), which propagates the pose of a single particle based on the given displacement and noise.
• Differences:
  • The propagation method in ParticleFilterBase is designed to handle the propagation of all particles, while the method in the Particle class deals with the propagation of an individual particle.
  • The ParticleFilterBase propagation method typically calls the Particle propagation method to update each particle's pose.