spf-localization-ros/archit.drawio at master · MortezaHagh/spf-localization-ros · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
<mxfile host="65bd71144e">
    <diagram id="gofwMXQrbk7a945r4pbx" name="Page-1">
        <mxGraphModel dx="907" dy="734" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="850" pageHeight="1100" math="0" shadow="0">
            <root>
                <mxCell id="0"/>
                <mxCell id="1" parent="0"/>
                <mxCell id="5" style="edgeStyle=none;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="2" target="9">
                    <mxGeometry relative="1" as="geometry">
                        <mxPoint x="285" y="280" as="targetPoint"/>
                    </mxGeometry>
                </mxCell>
                <mxCell id="2" value="Odometry Subscriber" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="210" y="180" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="7" style="edgeStyle=none;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="3" target="10">
                    <mxGeometry relative="1" as="geometry">
                        <mxPoint x="475" y="280" as="targetPoint"/>
                    </mxGeometry>
                </mxCell>
                <mxCell id="3" value="Laser scanner Subscriber" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="400" y="180" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="13" style="edgeStyle=none;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="8" target="12">
                    <mxGeometry relative="1" as="geometry"/>
                </mxCell>
                <mxCell id="8" value="Update Particles" style="swimlane;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="210" y="280" width="340" height="150" as="geometry"/>
                </mxCell>
                <mxCell id="9" value="Prediction&amp;nbsp;&lt;div&gt;Motion Model&lt;/div&gt;" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="8">
                    <mxGeometry x="15" y="45" width="120" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="10" value="Update&lt;div&gt;Measurment Model&lt;/div&gt;" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="8">
                    <mxGeometry x="205" y="45" width="120" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="17" style="edgeStyle=none;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="12" target="16">
                    <mxGeometry relative="1" as="geometry"/>
                </mxCell>
                <mxCell id="12" value="Update Weights" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="305" y="480" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="15" style="edgeStyle=none;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="14" target="8">
                    <mxGeometry relative="1" as="geometry"/>
                </mxCell>
                <mxCell id="14" value="Initialization" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="30" y="325" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="20" style="edgeStyle=none;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="16" target="18">
                    <mxGeometry relative="1" as="geometry"/>
                </mxCell>
                <mxCell id="16" value="Estimate Pose" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="40" y="480" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="22" style="edgeStyle=none;html=1;" edge="1" parent="1" source="18" target="21">
                    <mxGeometry relative="1" as="geometry"/>
                </mxCell>
                <mxCell id="18" value="Resample" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="40" y="600" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="24" style="edgeStyle=none;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="21" target="23">
                    <mxGeometry relative="1" as="geometry"/>
                </mxCell>
                <mxCell id="21" value="Publish Particles" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="305" y="600" width="150" height="60" as="geometry"/>
                </mxCell>
                <mxCell id="23" value="Publish estimated pose" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
                    <mxGeometry x="305" y="700" width="150" height="60" as="geometry"/>
                </mxCell>
            </root>
        </mxGraphModel>
    </diagram>
</mxfile>