batching_pomp::cspacebelief::Model< _T > Class Template Reference

Abstract class that represents the configuration space belief manager. More...

#include <Model.hpp>

Public Member Functions
virtual void	addPoint (const _T &data)=0
virtual void	removePoint (const _T &data)=0
virtual double	estimate (const _T &query) const =0

Detailed Description

template<class _T>
class batching_pomp::cspacebelief::Model< _T >

Abstract class that represents the configuration space belief manager.

At a high level, the belief model only cares about updates to itself with new collision check data, or queries to estimate the probability of collision of an unknown configuration.

Template Parameters

_T	A representation of the configuration space point and its collision check result.

Member Function Documentation

addPoint()

template<class _T>

virtual void batching_pomp::cspacebelief::Model< _T >::addPoint ( const _T &  data )

pure virtual

Add a data point to the belief manager.

Parameters

[in]

data

The datapoint to add to the belief manager.

Implemented in batching_pomp::cspacebelief::KNNModel.

estimate()

template<class _T>

virtual double batching_pomp::cspacebelief::Model< _T >::estimate ( const _T &  query ) const

pure virtual

Estimate the configuration space belief of the query

Parameters

[in]

query

The datapoint for which the probability of collision is estimated.

Returns

The probability of collision of query in (0,1)

Implemented in batching_pomp::cspacebelief::KNNModel.

removePoint()

template<class _T>

virtual void batching_pomp::cspacebelief::Model< _T >::removePoint ( const _T &  data )

pure virtual

Remove a data point from the belief manager (rarely used)

Parameters

[in]

data

The datapoint to remove from the belief manager.

Implemented in batching_pomp::cspacebelief::KNNModel.

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The documentation for this class was generated from the following file:

• include/batching_pomp/cspacebelief/Model.hpp