2D激光SLAM：：ROS-AMCL包源码阅读（一）关于pf粒子的数据结构

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结构体：单个粒子

// Information for a single sample
typedef struct
{
  // Pose represented by this sample
  pf_vector_t pose;

  // Weight for this pose
  double weight;
  
} pf_sample_t;

 

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粒子的聚类？

// Information for a cluster of samples
typedef struct
{
  // Number of samples
  int count;

  // Total weight of samples in this cluster
  double weight;

  // Cluster statistics
  pf_vector_t mean;
  pf_matrix_t cov;

  // Workspace
  double m[4], c[2][2];
  
} pf_cluster_t;

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 结构体：粒子集合

// Information for a set of samples
typedef struct _pf_sample_set_t
{
  // The samples
  int sample_count;
  pf_sample_t *samples; //单个粒子

  // A kdtree encoding the histogram
  pf_kdtree_t *kdtree;

  // Clusters
  int cluster_count, cluster_max_count;
  pf_cluster_t *clusters;

  // Filter statistics
  pf_vector_t mean;
  pf_matrix_t cov;
  int converged; 
} pf_sample_set_t;

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 结构体：粒子滤波器

// Information for an entire filter
typedef struct _pf_t
{
  // This min and max number of samples
//粒子数最大最小值
  int min_samples, max_samples;

  // Population size parameters
  double pop_err, pop_z;
  
  // The sample sets.  We keep two sets and use [current_set]
  // to identify the active set.
//保留两份粒子集合，一份用于接收当前粒子集的信息（set_a）
//另一个用来用作重采样的缓存粒子集(set_b)
  int current_set;
  pf_sample_set_t sets[2];

  // Running averages, slow and fast, of likelihood
  double w_slow, w_fast;

  // Decay rates for running averages
  double alpha_slow, alpha_fast;

  // Function used to draw random pose samples
  pf_init_model_fn_t random_pose_fn;
  void *random_pose_data;

  double dist_threshold; //distance threshold in each axis over which the pf is considered to not be converged
  int converged; 
} pf_t;

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