void CMonteCarloLocalization3D_prediction_and_update(
CMonteCarloLocalization3D& self,
const mrpt::obs::CActionCollection::Ptr action,
const mrpt::obs::CSensoryFrame::Ptr observation,
const CParticleFilter::TParticleFilterOptions& PF_options)
{
self.prediction_and_update(action.get(), observation.get(), PF_options);
}
// CParticleFilter
CParticleFilter::TParticleFilterStats CParticleFilter_executeOn(
CParticleFilter& self, CParticleFilterCapable& obj,
const mrpt::obs::CActionCollection::Ptr action,
const mrpt::obs::CSensoryFrame::Ptr observation)
{
CParticleFilter::TParticleFilterStats stats;
self.executeOn(obj, action.get(), observation.get(), &stats);
return stats;
}