Mobile Robot Control 2024 Ultron:Solution 4

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?