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<li class="navelem"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html">CRejectionSamplingCapable</a> </li>
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<div class="title">mrpt::bayes::CRejectionSamplingCapable Class Reference<div class="ingroups"><a class="el" href="group__mrpt__bayes__grp.html">[mrpt-bayes]</a></div></div> </div>
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<!-- doxytag: class="mrpt::bayes::CRejectionSamplingCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A base class for implementing rejection sampling in a generic state space. </p>
<p>See the main method <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#af0597f8c63106e2a4b64365147cf931f" title="Generates a set of N independent samples via rejection sampling.">CRejectionSamplingCapable::rejectionSampling</a> To use this class, create your own class as a child of this one and implement the desired virtual methods, and add any required internal data. </p>
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<p><code>#include <<a class="el" href="_c_rejection_sampling_capable_8h_source.html">mrpt/bayes/CRejectionSamplingCapable.h</a>></code></p>
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Inheritance diagram for mrpt::bayes::CRejectionSamplingCapable:</div>
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<div class="center"><img src="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable__inherit__graph.png" border="0" usemap="#mrpt_1_1bayes_1_1_c_rejection_sampling_capable_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node3" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html" title="mrpt::bayes::CRejectionSamplingCapable\< poses::CPose2D \>" alt="" coords="5,96,395,123"/><area shape="rect" id="node5" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html" title="An implementation of rejection sampling for generating 2D robot pose from range-only measurements wit..." alt="" coords="27,173,372,200"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><br class="typebreak"/>
< TStateSpace > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">TParticle</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#adfb6b788cf338e5f2e3c72566ece1efc">~CRejectionSamplingCapable</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <a href="#adfb6b788cf338e5f2e3c72566ece1efc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#af0597f8c63106e2a4b64365147cf931f">rejectionSampling</a> (size_t desiredSamples, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">TParticle</a> > &outSamples, size_t timeoutTrials=1000)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a set of N independent samples via rejection sampling. <a href="#af0597f8c63106e2a4b64365147cf931f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#addc288e07f0bfea667f0b30c235007d2">RS_drawFromProposal</a> (TStateSpace &outSample)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates one sample, drawing from some proposal distribution. <a href="#addc288e07f0bfea667f0b30c235007d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6cf91003f69f1cb70d8f0b18f3a49b79">RS_observationLikelihood</a> (const TStateSpace &x)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). <a href="#a6cf91003f69f1cb70d8f0b18f3a49b79"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a6c35abe1d7247665e9e7431aedee9e4f"></a><!-- doxytag: member="mrpt::bayes::CRejectionSamplingCapable::TParticle" ref="a6c35abe1d7247665e9e7431aedee9e4f" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><TStateSpace> <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">mrpt::bayes::CRejectionSamplingCapable::TParticle</a></td>
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<p>Definition at line <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00050">50</a> of file <a class="el" href="_c_rejection_sampling_capable_8h_source.html">CRejectionSamplingCapable.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="adfb6b788cf338e5f2e3c72566ece1efc"></a><!-- doxytag: member="mrpt::bayes::CRejectionSamplingCapable::~CRejectionSamplingCapable" ref="adfb6b788cf338e5f2e3c72566ece1efc" args="()" -->
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<td class="memname">virtual mrpt::bayes::CRejectionSamplingCapable::~CRejectionSamplingCapable </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Virtual destructor. </p>
<p>Definition at line <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00054">54</a> of file <a class="el" href="_c_rejection_sampling_capable_8h_source.html">CRejectionSamplingCapable.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af0597f8c63106e2a4b64365147cf931f"></a><!-- doxytag: member="mrpt::bayes::CRejectionSamplingCapable::rejectionSampling" ref="af0597f8c63106e2a4b64365147cf931f" args="(size_t desiredSamples, std::vector< TParticle > &outSamples, size_t timeoutTrials=1000)" -->
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<td class="memname">void mrpt::bayes::CRejectionSamplingCapable::rejectionSampling </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>desiredSamples</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">TParticle</a> > & </td>
<td class="paramname"><em>outSamples</em>, </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>timeoutTrials</em> = <code>1000</code> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Generates a set of N independent samples via rejection sampling. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">desiredSamples</td><td>The number of desired samples to generate </td></tr>
<tr><td class="paramname">outSamples</td><td>The output samples. </td></tr>
<tr><td class="paramname">timeoutTrials</td><td>The maximum number of rejection trials for each generated sample (i.e. the maximum number of iterations). This can be used to set a limit to the time complexity of the algorithm for difficult probability densities. All will have equal importance weights (a property of rejection sampling), although those samples generated at timeout will have a different importance weights. </td></tr>
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<p>Definition at line <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00065">65</a> of file <a class="el" href="_c_rejection_sampling_capable_8h_source.html">CRejectionSamplingCapable.h</a>.</p>
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<a class="anchor" id="addc288e07f0bfea667f0b30c235007d2"></a><!-- doxytag: member="mrpt::bayes::CRejectionSamplingCapable::RS_drawFromProposal" ref="addc288e07f0bfea667f0b30c235007d2" args="(TStateSpace &outSample)=0" -->
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<td class="memname">virtual void mrpt::bayes::CRejectionSamplingCapable::RS_drawFromProposal </td>
<td>(</td>
<td class="paramtype">TStateSpace & </td>
<td class="paramname"><em>outSample</em></td><td>)</td>
<td><code> [protected, pure virtual]</code></td>
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<p>Generates one sample, drawing from some proposal distribution. </p>
<p>Referenced by <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00065">mrpt::bayes::CRejectionSamplingCapable< poses::CPose2D >::rejectionSampling()</a>.</p>
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<a class="anchor" id="a6cf91003f69f1cb70d8f0b18f3a49b79"></a><!-- doxytag: member="mrpt::bayes::CRejectionSamplingCapable::RS_observationLikelihood" ref="a6cf91003f69f1cb70d8f0b18f3a49b79" args="(const TStateSpace &x)=0" -->
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<td class="memname">virtual double mrpt::bayes::CRejectionSamplingCapable::RS_observationLikelihood </td>
<td>(</td>
<td class="paramtype">const TStateSpace & </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td><code> [protected, pure virtual]</code></td>
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<p>Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). </p>
<p>Referenced by <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00065">mrpt::bayes::CRejectionSamplingCapable< poses::CPose2D >::rejectionSampling()</a>.</p>
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