Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications).
This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"
Definition at line 60 of file CMultiMetricMapPDF.h.
#include <mrpt/slam/CMultiMetricMapPDF.h>
Classes | |
| struct | TPredictionParams |
| The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. More... | |
Public Types | |
| typedef CRBPFParticleData | CParticleDataContent |
| This is the type inside the corresponding CParticleData class. More... | |
| typedef CProbabilityParticle< CRBPFParticleData > | CParticleData |
| Use this to refer to each element in the m_particles array. More... | |
| typedef std::deque< CParticleData > | CParticleList |
| Use this type to refer to the list of particles m_particles. More... | |
| typedef double(* | TParticleProbabilityEvaluator) (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation) |
| A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". More... | |
Public Member Functions | |
| CMultiMetricMapPDF (const bayes::CParticleFilter::TParticleFilterOptions &opts=bayes::CParticleFilter::TParticleFilterOptions(), const mrpt::slam::TSetOfMetricMapInitializers *mapsInitializers=NULL, const TPredictionParams *predictionOptions=NULL) | |
| Constructor. More... | |
| virtual | ~CMultiMetricMapPDF () |
| Destructor. More... | |
| void | clear (const CPose2D &initialPose) |
| Clear all elements of the maps, and restore all paths to a single starting pose. More... | |
| void | clear (const CPose3D &initialPose) |
| Clear all elements of the maps, and restore all paths to a single starting pose. More... | |
| void | getEstimatedPosePDFAtTime (size_t timeStep, CPose3DPDFParticles &out_estimation) const |
| Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. More... | |
| void | getEstimatedPosePDF (CPose3DPDFParticles &out_estimation) const |
| Returns the current estimate of the robot pose, as a particles PDF. More... | |
| CMultiMetricMap * | getCurrentMetricMapEstimation () |
| Returns the weighted averaged map based on the current best estimation. More... | |
| CMultiMetricMap * | getCurrentMostLikelyMetricMap () |
| Returns a pointer to the current most likely map (associated to the most likely particle). More... | |
| size_t | getNumberOfObservationsInSimplemap () const |
| Get the number of CSensoryFrame inserted into the internal member SFs. More... | |
| void | insertObservation (CSensoryFrame &sf) |
| Insert an observation to the map, at each particle's pose and to each particle's metric map. More... | |
| void | getPath (size_t i, std::deque< math::TPose3D > &out_path) const |
| Return the path (in absolute coordinate poses) for the i'th particle. More... | |
| double | getCurrentEntropyOfPaths () |
| Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance. More... | |
| double | getCurrentJointEntropy () |
| Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. More... | |
| void | updateSensoryFrameSequence () |
| Update the poses estimation of the member "SFs" according to the current path belief. More... | |
| void | saveCurrentPathEstimationToTextFile (const 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... | |
| mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
| Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
| CObject * | clone () const |
| Cloning interface for smart pointers. More... | |
| void | clearParticles () |
| Free the memory of all the particles and reset the array "m_particles" to length zero. More... | |
| void | writeParticlesToStream (utils::CStream &out) const |
| Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More... | |
| void | readParticlesFromStream (utils::CStream &in) |
| Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More... | |
| void | getWeights (vector_double &out_logWeights) const |
| Returns a vector with the sequence of the logaritmic weights of all the samples. More... | |
| const CParticleData * | getMostLikelyParticle () const |
| Returns the particle with the highest weight. More... | |
| const CMultiMetricMapPDF & | derived () const |
| CRTP helper method. More... | |
| CMultiMetricMapPDF & | derived () |
| CRTP helper method. More... | |
| double | getW (size_t i) const |
| Access to i'th particle (logarithm) weight, where first one is index 0. More... | |
| void | setW (size_t i, double w) |
| Modifies i'th particle (logarithm) weight, where first one is index 0. More... | |
| size_t | particlesCount () const |
| Get the m_particles count. More... | |
| double | normalizeWeights (double *out_max_log_w=NULL) |
| Normalize the (logarithmic) weights, such as the maximum weight is zero. More... | |
| double | ESS () const |
| Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More... | |
| void | performSubstitution (const std::vector< size_t > &indx) |
| Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change. More... | |
| void | prepareFastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void *action=NULL, const void *observation=NULL) const |
| Prepares data structures for calling fastDrawSample method next. More... | |
| size_t | fastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const |
| Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). More... | |
| void | prediction_and_update (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
| Performs the prediction stage of the Particle Filter. More... | |
| void | performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, size_t out_particle_count=0) |
| Performs a resample of the m_particles, using the method selected in the constructor. More... | |
| bool | PF_SLAM_implementation_gatherActionsCheckBothActObs (const CActionCollection *actions, const CSensoryFrame *sf) |
| Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing. More... | |
Virtual methods that the PF_implementations assume exist. | |
| const TPose3D * | getLastPose (const size_t i) const |
| Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). More... | |
| void | PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const TPose3D &newPose) const |
| bool | PF_SLAM_implementation_doWeHaveValidObservations (const CParticleList &particles, const CSensoryFrame *sf) const |
| bool | PF_SLAM_implementation_skipRobotMovement () const |
| Make a specialization if needed, eg. More... | |
| double | PF_SLAM_computeObservationLikelihoodForParticle (const CParticleFilter::TParticleFilterOptions &PF_options, const size_t particleIndexForMap, const CSensoryFrame &observation, const CPose3D &x) const |
| Evaluate the observation likelihood for one particle at a given location. More... | |
Virtual methods that the PF_implementations assume exist. | |
| virtual void | PF_SLAM_implementation_replaceByNewParticleSet (typename CParticleFilterData< CRBPFParticleData >::CParticleList &old_particles, const vector< TPose3D > &newParticles, const vector_double &newParticlesWeight, const vector< size_t > &newParticlesDerivedFromIdx) const |
| This is the default algorithm to efficiently replace one old set of samples by another new set. More... | |
| virtual bool | PF_SLAM_implementation_doWeHaveValidObservations (const typename CParticleFilterData< CRBPFParticleData >::CParticleList &particles, const CSensoryFrame *sf) const |
Static Public Member Functions | |
| static double | defaultEvaluator (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation) |
| The default evaluator function, which simply returns the particle weight. More... | |
| static void | computeResampling (CParticleFilter::TParticleResamplingAlgorithm method, const vector_double &in_logWeights, std::vector< size_t > &out_indexes, size_t out_particle_count=0) |
| A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. More... | |
| static void | log2linearWeights (const vector_double &in_logWeights, vector_double &out_linWeights) |
| A static method to compute the linear, normalized (the sum the unity) weights from log-weights. More... | |
Public Attributes | |
| mrpt::slam::CMultiMetricMapPDF::TPredictionParams | options |
| float | newInfoIndex |
| An index [0,1] measuring how much information an observation aports to the map (Typ. More... | |
| CParticleList | m_particles |
| The array of particles. More... | |
Static Public Attributes | |
| static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
| void | prediction_and_update_pfStandardProposal (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
| The PF algorithm implementation. More... | |
| void | prediction_and_update_pfOptimalProposal (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
| The PF algorithm implementation. More... | |
| void | prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
| The PF algorithm implementation. More... | |
| virtual void | prediction_and_update_pfAuxiliaryPFStandard (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
| Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More... | |
CSerializable virtual methods | |
| void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
| Introduces a pure virtual method responsible for writing to a CStream. More... | |
| void | readFromStream (mrpt::utils::CStream &in, int version) |
| Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
The generic PF implementations for localization & SLAM. | |
| void | PF_SLAM_implementation_pfAuxiliaryPFOptimal (const CActionCollection *actions, const CSensoryFrame *sf, const CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options) |
| A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping. More... | |
| void | PF_SLAM_implementation_pfAuxiliaryPFStandard (const CActionCollection *actions, const CSensoryFrame *sf, const CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options) |
| A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping. More... | |
| void | PF_SLAM_implementation_pfStandardProposal (const CActionCollection *actions, const CSensoryFrame *sf, const CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options) |
| A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping. More... | |
Protected Attributes | |
| TFastDrawAuxVars | m_fastDrawAuxiliary |
| Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More... | |
Private Member Functions | |
| float | H (float p) |
| Entropy aux. More... | |
| void | rebuildAverageMap () |
| Rebuild the "expected" grid map. More... | |
Private Attributes | |
| CMultiMetricMap | averageMap |
| Internal buffer for the averaged map. More... | |
| bool | averageMapIsUpdated |
| CSimpleMap | SFs |
| The SFs and their corresponding pose estimations: More... | |
| std::vector< uint32_t > | SF2robotPath |
| A mapping between indexes in the SFs to indexes in the robot paths from particles. More... | |
Friends | |
| class | CMetricMapBuilderRBPF |
RTTI stuff | |
| typedef CMultiMetricMapPDFPtr | SmartPtr |
| static mrpt::utils::CLASSINIT | _init_CMultiMetricMapPDF |
| static mrpt::utils::TRuntimeClassId | classCMultiMetricMapPDF |
| static const mrpt::utils::TRuntimeClassId * | classinfo |
| static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
| virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
| Returns information about the class of an object in runtime. More... | |
| virtual mrpt::utils::CObject * | duplicate () const |
| Returns a copy of the object, indepently of its class. More... | |
| static mrpt::utils::CObject * | CreateObject () |
| static CMultiMetricMapPDFPtr | Create () |
Data members and methods used by generic PF implementations | |
| static double | PF_SLAM_particlesEvaluator_AuxPFStandard (const CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation) |
| Compute w[i]·p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose. More... | |
| static double | PF_SLAM_particlesEvaluator_AuxPFOptimal (const CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation) |
| CActionRobotMovement2D | m_accumRobotMovement2D |
| bool | m_accumRobotMovement2DIsValid |
| CPose3DPDFGaussian | m_accumRobotMovement3D |
| bool | m_accumRobotMovement3DIsValid |
| CPoseRandomSampler | m_movementDrawer |
| Used in al PF implementations. More... | |
| vector_double | m_pfAuxiliaryPFOptimal_estimatedProb |
| Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
| vector_double | m_pfAuxiliaryPFStandard_estimatedProb |
| Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm. More... | |
| vector_double | m_pfAuxiliaryPFOptimal_maxLikelihood |
| Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
| std::vector< TPose3D > | m_pfAuxiliaryPFOptimal_maxLikDrawnMovement |
| Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
| std::vector< bool > | m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed |
|
inherited |
Use this to refer to each element in the m_particles array.
Definition at line 180 of file CParticleFilterData.h.
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inherited |
This is the type inside the corresponding CParticleData class.
Definition at line 179 of file CParticleFilterData.h.
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inherited |
Use this type to refer to the list of particles m_particles.
Definition at line 181 of file CParticleFilterData.h.
A typedef for the associated smart pointer
Definition at line 70 of file CMultiMetricMapPDF.h.
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inherited |
A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample".
The default evaluator function "defaultEvaluator" simply returns the particle weight.
| index | This is the index of the particle its probability is being computed. |
| action | The value of this is the parameter passed to "prepareFastDrawSample" |
| observation | The value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility. |
Definition at line 54 of file CParticleFilterCapable.h.
| mrpt::slam::CMultiMetricMapPDF::CMultiMetricMapPDF | ( | const bayes::CParticleFilter::TParticleFilterOptions & | opts = bayes::CParticleFilter::TParticleFilterOptions(), |
| const mrpt::slam::TSetOfMetricMapInitializers * | mapsInitializers = NULL, |
||
| const TPredictionParams * | predictionOptions = NULL |
||
| ) |
Constructor.
|
virtual |
Destructor.
|
staticprotected |
| void mrpt::slam::CMultiMetricMapPDF::clear | ( | const CPose2D & | initialPose | ) |
Clear all elements of the maps, and restore all paths to a single starting pose.
| void mrpt::slam::CMultiMetricMapPDF::clear | ( | const CPose3D & | initialPose | ) |
Clear all elements of the maps, and restore all paths to a single starting pose.
|
inlineinherited |
Free the memory of all the particles and reset the array "m_particles" to length zero.
Definition at line 191 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, and MRPT_START.
|
inlineinherited |
|
staticinherited |
A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method.
It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling
| [in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
|
static |
|
static |
|
inlinestaticinherited |
The default evaluator function, which simply returns the particle weight.
The action and the observation are declared as "void*" for a greater flexibility.
Definition at line 65 of file CParticleFilterCapable.h.
References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.
|
inlineinherited |
CRTP helper method.
Definition at line 32 of file CParticleFilterData.h.
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inlineinherited |
CRTP helper method.
Definition at line 34 of file CParticleFilterData.h.
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
inlineinherited |
|
inlinevirtualinherited |
Returns the normalized ESS (Estimated Sample Size), in the range [0,1].
Note that you do NOT need to normalize the weights before calling this.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 76 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::utils::square().
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inherited |
Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm).
This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the Particle Filter tutorial.
NOTES:
| double mrpt::slam::CMultiMetricMapPDF::getCurrentEntropyOfPaths | ( | ) |
Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance.
| double mrpt::slam::CMultiMetricMapPDF::getCurrentJointEntropy | ( | ) |
Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C.
Stachniss, G. Grissetti and W.Burgard.
| CMultiMetricMap* mrpt::slam::CMultiMetricMapPDF::getCurrentMetricMapEstimation | ( | ) |
Returns the weighted averaged map based on the current best estimation.
If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy.
| CMultiMetricMap* mrpt::slam::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap | ( | ) |
Returns a pointer to the current most likely map (associated to the most likely particle).
| void mrpt::slam::CMultiMetricMapPDF::getEstimatedPosePDF | ( | CPose3DPDFParticles & | out_estimation | ) | const |
Returns the current estimate of the robot pose, as a particles PDF.
| void mrpt::slam::CMultiMetricMapPDF::getEstimatedPosePDFAtTime | ( | size_t | timeStep, |
| CPose3DPDFParticles & | out_estimation | ||
| ) | const |
Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1.
|
virtual |
Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty).
Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.
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inlineinherited |
Returns the particle with the highest weight.
Definition at line 259 of file CParticleFilterData.h.
References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, and MRPT_START.
|
inline |
Get the number of CSensoryFrame inserted into the internal member SFs.
Definition at line 200 of file CMultiMetricMapPDF.h.
References mrpt::slam::CSimpleMap::size().
| void mrpt::slam::CMultiMetricMapPDF::getPath | ( | size_t | i, |
| std::deque< math::TPose3D > & | out_path | ||
| ) | const |
Return the path (in absolute coordinate poses) for the i'th particle.
| On | index out of bounds |
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
|
inlinevirtualinherited |
Access to i'th particle (logarithm) weight, where first one is index 0.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 36 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_CUSTOM_MSG1.
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inlineinherited |
Returns a vector with the sequence of the logaritmic weights of all the samples.
Definition at line 246 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, and mrpt::mrpt::dynamicsize_vector< T >::resize().
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private |
Entropy aux.
function
| void mrpt::slam::CMultiMetricMapPDF::insertObservation | ( | CSensoryFrame & | sf | ) |
Insert an observation to the map, at each particle's pose and to each particle's metric map.
| sf | The SF to be inserted |
|
staticinherited |
A static method to compute the linear, normalized (the sum the unity) weights from log-weights.
|
inlinevirtualinherited |
Normalize the (logarithmic) weights, such as the maximum weight is zero.
| out_max_log_w | If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w. |
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 53 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.
|
inlinevirtualinherited |
Get the m_particles count.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 48 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived().
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inherited |
Performs a resample of the m_particles, using the method selected in the constructor.
After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample"
| [in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
|
inlinevirtualinherited |
Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 96 of file CParticleFilterData.h.
References ASSERT_, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.
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virtual |
Evaluate the observation likelihood for one particle at a given location.
Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.
|
virtual |
|
inlinevirtualinherited |
Definition at line 240 of file PF_implementations_data.h.
| bool mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations | ( | const CParticleList & | particles, |
| const CSensoryFrame * | sf | ||
| ) | const |
|
inherited |
Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.
On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.
Definition at line 52 of file PF_implementations.h.
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protectedinherited |
A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping.
BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:
J.-L. Blanco, J. González, and J.-A. Fernández-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461–466.
BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:
J.-L. Blanco, J. González, and J.-A. Fernández-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461–466.
Definition at line 136 of file PF_implementations.h.
|
protectedinherited |
A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping.
BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
This method is described in the paper: Pitt, M.K.; Shephard, N. (1999). "Filtering Via Simulation: Auxiliary Particle Filters". Journal of the American Statistical Association 94 (446): 590–591. doi:10.2307/2670179.
BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
This method is described in the paper: Pitt, M.K.; Shephard, N. (1999). "Filtering Via Simulation: Auxiliary Particle Filters". Journal of the American Statistical Association 94 (446): 590–591. doi:10.2307/2670179.
Definition at line 321 of file PF_implementations.h.
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protectedinherited |
A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping.
Definition at line 154 of file PF_implementations.h.
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inlinevirtualinherited |
This is the default algorithm to efficiently replace one old set of samples by another new set.
The method uses pointers to make fast copies the first time each particle is duplicated, then makes real copies for the next ones.
Note that more efficient specializations might exist for specific particle data structs.
Definition at line 175 of file PF_implementations_data.h.
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virtual |
Make a specialization if needed, eg.
in the first step in SLAM.
Reimplemented from mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.
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Definition at line 336 of file PF_implementations.h.
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Compute w[i]·p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.
Compute w[i]·p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.
| action | MUST be a "const CPose3D*" |
| observation | MUST be a "const CSensoryFrame*" |
Definition at line 409 of file PF_implementations.h.
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inherited |
Performs the prediction stage of the Particle Filter.
This method simply selects the appropiate protected method according to the particle filter algorithm to run.
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The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented in mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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inherited |
Prepares data structures for calling fastDrawSample method next.
This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see CParticleFilter::TParticleFilterOptions):
The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the Particle Filter tutorial. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
| in | The input binary stream where the object data must read from. |
| version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
| std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inlineinherited |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
Definition at line 226 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T >::clearParticles(), mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, and MRPT_START.
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private |
Rebuild the "expected" grid map.
Used internally, do not call
| void mrpt::slam::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile | ( | const 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).
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inlinevirtualinherited |
Modifies i'th particle (logarithm) weight, where first one is index 0.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 42 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_CUSTOM_MSG1.
| void mrpt::slam::CMultiMetricMapPDF::updateSensoryFrameSequence | ( | ) |
Update the poses estimation of the member "SFs" according to the current path belief.
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inlineinherited |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
Definition at line 212 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, and MRPT_START.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
| out | The output binary stream where object must be dumped. |
| getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
| std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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friend |
Definition at line 66 of file CMultiMetricMapPDF.h.
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staticprotected |
Definition at line 70 of file CMultiMetricMapPDF.h.
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private |
Internal buffer for the averaged map.
Definition at line 98 of file CMultiMetricMapPDF.h.
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private |
Definition at line 99 of file CMultiMetricMapPDF.h.
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static |
Definition at line 70 of file CMultiMetricMapPDF.h.
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staticinherited |
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staticinherited |
Definition at line 35 of file CSerializable.h.
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static |
Definition at line 70 of file CMultiMetricMapPDF.h.
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protectedinherited |
Definition at line 66 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 67 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 68 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 69 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.
Definition at line 233 of file CParticleFilterCapable.h.
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protectedinherited |
Used in al PF implementations.
Definition at line 71 of file PF_implementations_data.h.
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inherited |
The array of particles.
Definition at line 183 of file CParticleFilterData.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 72 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 75 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 74 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 76 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.
Definition at line 73 of file PF_implementations_data.h.
| float mrpt::slam::CMultiMetricMapPDF::newInfoIndex |
An index [0,1] measuring how much information an observation aports to the map (Typ.
threshold=0.07)
Definition at line 230 of file CMultiMetricMapPDF.h.
| mrpt::slam::CMultiMetricMapPDF::TPredictionParams mrpt::slam::CMultiMetricMapPDF::options |
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private |
A mapping between indexes in the SFs to indexes in the robot paths from particles.
Definition at line 107 of file CMultiMetricMapPDF.h.
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private |
The SFs and their corresponding pose estimations:
Definition at line 103 of file CMultiMetricMapPDF.h.
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