Add new cluster-based estimation mixin

Signed-off-by: Gerardo Puga <[email protected]>
Signed-off-by: Gerardo Puga <[email protected]>

beluga/include/beluga/estimation.hpp

@@ -42,6 +42,7 @@
 #include <beluga/interfaces/estimation_interface.hpp>
 
 // implementations
+#include <beluga/estimation/cluster_based_estimator.hpp>
 #include <beluga/estimation/simple_state_estimator.hpp>
 #include <beluga/estimation/weighted_state_estimator.hpp>
 

beluga/include/beluga/estimation/simple_state_estimator.hpp

@@ -28,8 +28,7 @@
 
 /**
  * \file
- * \brief Implementation of algorithms that allow calculating the estimated state of
- *  a particle filter.
+ * \brief Implementation of a simple state estimator.
  */
 
 namespace beluga {

beluga/include/beluga/estimation/utils/range_statistics.hpp

@@ -35,23 +35,6 @@
  *  a particle filter.
  */
 
-/**
- * \page StateEstimatorPage Beluga named requirements: StateEstimator
- * The requirements that a state estimator must satisfy.
- *
- * \section StateEstimationRequirements Requirements
- * `T` is a `StateEstimator` if given a (possibly const) instance `p` of `T`, the following is satisfied:
- * - `p.estimate()` is a valid expression.
- * - `std::get<0>(p.estimate())` is valid.
- *   `decltype(std::get<0>(p.estimate()))` represents the type of the estimated state.
- * - `std::get<1>(p.estimate())` is valid.
- *   `decltype(std::get<1>(p.estimate()))` represents the type of the covariance of the estimation.
- *
- * \section StateEstimationLinks See also
- * - beluga::SimpleStateEstimator<Mixin, Sophus::SE2d>
- * - beluga::WeightedStateEstimator<Mixin, Sophus::SE2d>
- */
-
 namespace beluga {
 
 /// Calculates the covariance of a range given its mean and the weights of each element.

beluga/include/beluga/estimation/weighted_state_estimator.hpp

@@ -28,8 +28,7 @@
 
 /**
  * \file
- * \brief Implementation of algorithms that allow calculating the estimated state of
- *  a particle filter.
+ * \brief Implementation of a state estimator that uses the weighted mean and covariance.
  */
 
 namespace beluga {

beluga/test/beluga/CMakeLists.txt

@@ -16,11 +16,12 @@ add_executable(
   test_beluga
   algorithm/raycasting/test_bresenham.cpp
   algorithm/test_distance_map.cpp
-  algorithm/test_estimation.cpp
   algorithm/test_exponential_filter.cpp
   algorithm/test_particle_filter.cpp
   algorithm/test_raycasting.cpp
   algorithm/test_sampling.cpp
+  estimation/test_cluster_based_estimation.cpp
+  estimation/test_estimation.cpp
   mixin/test_descriptor.cpp
   mixin/test_utility.cpp
   motion/test_differential_drive_model.cpp