Main MRPT website > C++ reference
MRPT logo
List of all members | Classes | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
mrpt::slam::CMetricMapBuilderRBPF Class Reference

Detailed Description

This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.

This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.

A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.

For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.

\note Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.
\note Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.
\note Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
See also
CMetricMap

Definition at line 72 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF:
Inheritance graph
[legend]

Classes

struct  TConstructionOptions
 Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More...
 
struct  TStats
 This structure will hold stats after each execution of processActionObservation. More...
 

Public Member Functions

 CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions)
 Constructor. More...
 
virtual ~CMetricMapBuilderRBPF ()
 Destructor. More...
 
void initialize (const CSimpleMap &initialMap=CSimpleMap(), CPosePDF *x0=NULL)
 Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. More...
 
void clear ()
 Clear all elements of the maps. More...
 
CPose3DPDFPtr getCurrentPoseEstimation () const
 Returns a copy of the current best pose estimation as a pose PDF. More...
 
void getCurrentMostLikelyPath (std::deque< TPose3D > &outPath) const
 Returns the current most-likely path estimation (the path associated to the most likely particle). More...
 
void processActionObservation (CActionCollection &action, CSensoryFrame &observations)
 Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...
 
void getCurrentlyBuiltMap (CSimpleMap &out_map) const
 Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
 
CMultiMetricMapgetCurrentlyBuiltMetricMap ()
 Returns the map built so far. More...
 
unsigned int getCurrentlyBuiltMapSize ()
 Returns just how many sensory-frames are stored in the currently build map. More...
 
void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)
 A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
 
void drawCurrentEstimationToImage (utils::CCanvas *img)
 A usefull method for debugging: draws the current map and path hypotheses to a CCanvas. More...
 
void saveCurrentPathEstimationToTextFile (std::string fil)
 A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). More...
 
double getCurrentJointEntropy ()
 
void enableMapUpdating (bool enable)
 Enables or disables the map updating (default state is enabled) More...
 
void loadCurrentMapFromFile (const std::string &fileName)
 Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file. More...
 
void saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
 Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file. More...
 

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 

Public Attributes

CMultiMetricMapPDF mapPDF
 The map PDF: It includes a path and associated map for each particle. More...
 
TStats m_statsLastIteration
 This structure will hold stats after each execution of processActionObservation. More...
 
TOptions options
 

Protected Member Functions

void enterCriticalSection ()
 Enter critical section for map updating: More...
 
void leaveCriticalSection ()
 Leave critical section for map updating: More...
 

Protected Attributes

bayes::CParticleFilter::TParticleFilterOptions m_PF_options
 The configuration of the particle filter: More...
 
float insertionLinDistance
 Distances (linear and angular) for inserting a new observation into the map. More...
 
float insertionAngDistance
 
float localizeLinDistance
 Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). More...
 
float localizeAngDistance
 
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
 Traveled distance since last localization update. More...
 
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
 Traveled distance since last map update. More...
 
non_copiable_ptr< CMultiMetricMapcurrentMetricMapEstimation
 A buffer: memory is actually hold within "mapPDF". More...
 
synch::CCriticalSection critZoneChangingMap
 Critical zones. More...
 

Constructor & Destructor Documentation

◆ CMetricMapBuilderRBPF()

mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( const TConstructionOptions initializationOptions)

Constructor.

◆ ~CMetricMapBuilderRBPF()

virtual mrpt::slam::CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF ( )
virtual

Destructor.

Member Function Documentation

◆ clear()

void mrpt::slam::CMetricMapBuilderRBPF::clear ( )

Clear all elements of the maps.

◆ drawCurrentEstimationToImage()

void mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage ( utils::CCanvas img)

A usefull method for debugging: draws the current map and path hypotheses to a CCanvas.

◆ enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool  enable)
inlineinherited

Enables or disables the map updating (default state is enabled)

Definition at line 121 of file CMetricMapBuilder.h.

◆ enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )
inlineprotectedinherited

Enter critical section for map updating:

Definition at line 70 of file CMetricMapBuilder.h.

References mrpt::synch::CCriticalSection::enter().

◆ getCurrentJointEntropy()

double mrpt::slam::CMetricMapBuilderRBPF::getCurrentJointEntropy ( )

◆ getCurrentlyBuiltMap()

void mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap ( CSimpleMap out_map) const
virtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implements mrpt::slam::CMetricMapBuilder.

◆ getCurrentlyBuiltMapSize()

unsigned int mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize ( )
virtual

Returns just how many sensory-frames are stored in the currently build map.

Implements mrpt::slam::CMetricMapBuilder.

◆ getCurrentlyBuiltMetricMap()

CMultiMetricMap* mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap ( )
virtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".

Implements mrpt::slam::CMetricMapBuilder.

◆ getCurrentMostLikelyPath()

void mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath ( std::deque< TPose3D > &  outPath) const

Returns the current most-likely path estimation (the path associated to the most likely particle).

◆ getCurrentPoseEstimation()

CPose3DPDFPtr mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation ( ) const
virtual

Returns a copy of the current best pose estimation as a pose PDF.

Implements mrpt::slam::CMetricMapBuilder.

◆ initialize()

void mrpt::slam::CMetricMapBuilderRBPF::initialize ( const CSimpleMap initialMap = CSimpleMap(),
CPosePDF x0 = NULL 
)
virtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.

Implements mrpt::slam::CMetricMapBuilder.

◆ leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )
inlineprotectedinherited

Leave critical section for map updating:

Definition at line 74 of file CMetricMapBuilder.h.

References mrpt::synch::CCriticalSection::leave().

◆ loadCurrentMapFromFile()

void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile ( const std::string &  fileName)
inherited

Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ processActionObservation()

void mrpt::slam::CMetricMapBuilderRBPF::processActionObservation ( CActionCollection action,
CSensoryFrame observations 
)
virtual

Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters
actionThe incremental 2D pose change in the robot pose. This value is deterministic.
observationsThe set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration

Implements mrpt::slam::CMetricMapBuilder.

◆ saveCurrentEstimationToImage()

void mrpt::slam::CMetricMapBuilderRBPF::saveCurrentEstimationToImage ( const std::string &  file,
bool  formatEMF_BMP = true 
)
virtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters
fileThe output file name
formatEMF_BMPOutput format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

◆ saveCurrentMapToFile()

void mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile ( const std::string &  fileName,
bool  compressGZ = true 
) const
inherited

Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file.

◆ saveCurrentPathEstimationToTextFile()

void mrpt::slam::CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile ( std::string  fil)

A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).

Member Data Documentation

◆ critZoneChangingMap

synch::CCriticalSection mrpt::slam::CMetricMapBuilder::critZoneChangingMap
protectedinherited

Critical zones.

Definition at line 66 of file CMetricMapBuilder.h.

◆ currentMetricMapEstimation

non_copiable_ptr<CMultiMetricMap> mrpt::slam::CMetricMapBuilderRBPF::currentMetricMapEstimation
protected

A buffer: memory is actually hold within "mapPDF".

Definition at line 98 of file CMetricMapBuilderRBPF.h.

◆ insertionAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance
protected

Definition at line 86 of file CMetricMapBuilderRBPF.h.

◆ insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance
protected

Distances (linear and angular) for inserting a new observation into the map.

Definition at line 86 of file CMetricMapBuilderRBPF.h.

◆ localizeAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance
protected

Definition at line 90 of file CMetricMapBuilderRBPF.h.

◆ localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance
protected

Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).

Definition at line 90 of file CMetricMapBuilderRBPF.h.

◆ m_PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::m_PF_options
protected

The configuration of the particle filter:

Definition at line 82 of file CMetricMapBuilderRBPF.h.

◆ m_statsLastIteration

TStats mrpt::slam::CMetricMapBuilderRBPF::m_statsLastIteration

This structure will hold stats after each execution of processActionObservation.

Definition at line 213 of file CMetricMapBuilderRBPF.h.

◆ mapPDF

CMultiMetricMapPDF mrpt::slam::CMetricMapBuilderRBPF::mapPDF

The map PDF: It includes a path and associated map for each particle.

Definition at line 77 of file CMetricMapBuilderRBPF.h.

◆ odoIncrementSinceLastLocalization

mrpt::poses::CPose3DPDFGaussian mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastLocalization
protected

Traveled distance since last localization update.

Definition at line 93 of file CMetricMapBuilderRBPF.h.

◆ odoIncrementSinceLastMapUpdate

mrpt::poses::CPose3D mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastMapUpdate
protected

Traveled distance since last map update.

Definition at line 94 of file CMetricMapBuilderRBPF.h.

◆ options

TOptions mrpt::slam::CMetricMapBuilder::options
inherited

Definition at line 157 of file CMetricMapBuilder.h.




Page generated by Doxygen 1.8.14 for MRPT 1.0.2 SVN: at lun oct 28 00:52:41 CET 2019 Hosted on:
SourceForge.net Logo