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mrpt::slam::CMultiMetricMapPDF Class Reference

Detailed Description

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"

See also
mrpt::slam::CMetricMapBuilderRBPF

Definition at line 60 of file CMultiMetricMapPDF.h.

#include <mrpt/slam/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::slam::CMultiMetricMapPDF:
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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< CRBPFParticleDataCParticleData
 Use this to refer to each element in the m_particles array. More...
 
typedef std::deque< CParticleDataCParticleList
 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...
 
CMultiMetricMapgetCurrentMetricMapEstimation ()
 Returns the weighted averaged map based on the current best estimation. More...
 
CMultiMetricMapgetCurrentMostLikelyMetricMap ()
 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...
 
CObjectclone () 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 CParticleDatagetMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
const CMultiMetricMapPDFderived () const
 CRTP helper method. More...
 
CMultiMetricMapPDFderived ()
 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::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
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< TPose3Dm_pfAuxiliaryPFOptimal_maxLikDrawnMovement
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< bool > m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
 

Member Typedef Documentation

◆ CParticleData

Use this to refer to each element in the m_particles array.

Definition at line 180 of file CParticleFilterData.h.

◆ CParticleDataContent

This is the type inside the corresponding CParticleData class.

Definition at line 179 of file CParticleFilterData.h.

◆ CParticleList

Use this type to refer to the list of particles m_particles.

Definition at line 181 of file CParticleFilterData.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 70 of file CMultiMetricMapPDF.h.

◆ TParticleProbabilityEvaluator

typedef double( * mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator) (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
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.

Parameters
indexThis is the index of the particle its probability is being computed.
actionThe value of this is the parameter passed to "prepareFastDrawSample"
observationThe value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility.
See also
prepareFastDrawSample

Definition at line 54 of file CParticleFilterCapable.h.

Constructor & Destructor Documentation

◆ CMultiMetricMapPDF()

mrpt::slam::CMultiMetricMapPDF::CMultiMetricMapPDF ( const bayes::CParticleFilter::TParticleFilterOptions opts = bayes::CParticleFilter::TParticleFilterOptions(),
const mrpt::slam::TSetOfMetricMapInitializers mapsInitializers = NULL,
const TPredictionParams predictionOptions = NULL 
)

Constructor.

◆ ~CMultiMetricMapPDF()

virtual mrpt::slam::CMultiMetricMapPDF::~CMultiMetricMapPDF ( )
virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CMultiMetricMapPDF::_GetBaseClass ( )
staticprotected

◆ clear() [1/2]

void mrpt::slam::CMultiMetricMapPDF::clear ( const CPose2D initialPose)

Clear all elements of the maps, and restore all paths to a single starting pose.

◆ clear() [2/2]

void mrpt::slam::CMultiMetricMapPDF::clear ( const CPose3D initialPose)

Clear all elements of the maps, and restore all paths to a single starting pose.

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::clearParticles ( )
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.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ computeResampling()

static void mrpt::bayes::CParticleFilterCapable::computeResampling ( CParticleFilter::TParticleResamplingAlgorithm  method,
const vector_double in_logWeights,
std::vector< size_t > &  out_indexes,
size_t  out_particle_count = 0 
)
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

Parameters
[in]out_particle_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See also
performResampling

◆ Create()

static CMultiMetricMapPDFPtr mrpt::slam::CMultiMetricMapPDF::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::slam::CMultiMetricMapPDF::CreateObject ( )
static

◆ defaultEvaluator()

static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  index,
const void *  action,
const void *  observation 
)
inlinestaticinherited

The default evaluator function, which simply returns the particle weight.

The action and the observation are declared as "void*" for a greater flexibility.

See also
prepareFastDrawSample

Definition at line 65 of file CParticleFilterCapable.h.

References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.

◆ derived() [1/2]

CRTP helper method.

Definition at line 32 of file CParticleFilterData.h.

◆ derived() [2/2]

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::slam::CMultiMetricMapPDF::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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).

Definition at line 132 of file CObject.h.

◆ ESS()

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().

◆ fastDrawSample()

size_t mrpt::bayes::CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options) const
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:

  • You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
  • This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
  • You do not need to call "normalizeWeights" before calling this.
    See also
    prepareFastDrawSample

◆ getCurrentEntropyOfPaths()

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.

◆ getCurrentJointEntropy()

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.

◆ getCurrentMetricMapEstimation()

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.

◆ getCurrentMostLikelyMetricMap()

CMultiMetricMap* mrpt::slam::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap ( )

Returns a pointer to the current most likely map (associated to the most likely particle).

◆ getEstimatedPosePDF()

void mrpt::slam::CMultiMetricMapPDF::getEstimatedPosePDF ( CPose3DPDFParticles out_estimation) const

Returns the current estimate of the robot pose, as a particles PDF.

See also
getEstimatedPosePDFAtTime

◆ getEstimatedPosePDFAtTime()

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.

See also
getEstimatedPosePDF

◆ getLastPose()

const TPose3D* mrpt::slam::CMultiMetricMapPDF::getLastPose ( const size_t  i) const
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 >.

◆ getMostLikelyParticle()

const CParticleData* mrpt::bayes::CParticleFilterData< CRBPFParticleData >::getMostLikelyParticle ( ) const
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.

◆ getNumberOfObservationsInSimplemap()

size_t mrpt::slam::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap ( ) const
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().

◆ getPath()

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.

Exceptions
Onindex out of bounds

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CMultiMetricMapPDF::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ getW()

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.

◆ getWeights()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::getWeights ( vector_double out_logWeights) const
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().

◆ H()

float mrpt::slam::CMultiMetricMapPDF::H ( float  p)
private

Entropy aux.

function

◆ insertObservation()

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.

Parameters
sfThe SF to be inserted

◆ log2linearWeights()

static void mrpt::bayes::CParticleFilterCapable::log2linearWeights ( const vector_double in_logWeights,
vector_double out_linWeights 
)
staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See also
performResampling

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::normalizeWeights ( double *  out_max_log_w = NULL)
inlinevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters
out_max_log_wIf provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w.
Returns
The max/min ratio of weights ("dynamic range")

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.

◆ particlesCount()

◆ performResampling()

void mrpt::bayes::CParticleFilterCapable::performResampling ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
size_t  out_particle_count = 0 
)
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"

Parameters
[in]out_particle_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See also
resample

◆ performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::performSubstitution ( const std::vector< size_t > &  indx)
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.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

double mrpt::slam::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle ( const CParticleFilter::TParticleFilterOptions PF_options,
const size_t  particleIndexForMap,
const CSensoryFrame observation,
const CPose3D x 
) const
virtual

Evaluate the observation likelihood for one particle at a given location.

Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

void mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose ( CParticleDataContent particleData,
const TPose3D &  newPose 
) const
virtual

◆ PF_SLAM_implementation_doWeHaveValidObservations() [1/2]

virtual bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_doWeHaveValidObservations ( const typename CParticleFilterData< CRBPFParticleData >::CParticleList &  particles,
const CSensoryFrame sf 
) const
inlinevirtualinherited

Definition at line 240 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_doWeHaveValidObservations() [2/2]

bool mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations ( const CParticleList particles,
const CSensoryFrame sf 
) const

◆ PF_SLAM_implementation_gatherActionsCheckBothActObs()

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_gatherActionsCheckBothActObs ( const CActionCollection actions,
const CSensoryFrame sf 
)
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.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_pfAuxiliaryPFOptimal ( const CActionCollection actions,
const CSensoryFrame sf,
const CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options 
)
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.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_pfAuxiliaryPFStandard ( const CActionCollection actions,
const CSensoryFrame sf,
const CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options 
)
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.

◆ PF_SLAM_implementation_pfStandardProposal()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_pfStandardProposal ( const CActionCollection actions,
const CSensoryFrame sf,
const CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options 
)
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.

  • BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

Definition at line 154 of file PF_implementations.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet()

virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_replaceByNewParticleSet ( typename CParticleFilterData< CRBPFParticleData >::CParticleList &  old_particles,
const vector< TPose3D > &  newParticles,
const vector_double newParticlesWeight,
const vector< size_t > &  newParticlesDerivedFromIdx 
) const
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.

◆ PF_SLAM_implementation_skipRobotMovement()

bool mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_skipRobotMovement ( ) const
virtual

Make a specialization if needed, eg.

in the first step in SLAM.

Reimplemented from mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_particlesEvaluator_AuxPFOptimal ( const CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  index,
const void *  action,
const void *  observation 
)
staticprotectedinherited

Definition at line 336 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_particlesEvaluator_AuxPFStandard ( const CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  index,
const void *  action,
const void *  observation 
)
staticprotectedinherited

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.

Parameters
actionMUST be a "const CPose3D*"
observationMUST be a "const CSensoryFrame*"

Definition at line 409 of file PF_implementations.h.

◆ prediction_and_update()

void mrpt::bayes::CParticleFilterCapable::prediction_and_update ( const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
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.

See also
prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

◆ prediction_and_update_pfAuxiliaryPFOptimal()

void mrpt::slam::CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFOptimal ( const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

◆ prediction_and_update_pfAuxiliaryPFStandard()

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard ( const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ prediction_and_update_pfOptimalProposal()

void mrpt::slam::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal ( const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

◆ prediction_and_update_pfStandardProposal()

void mrpt::slam::CMultiMetricMapPDF::prediction_and_update_pfStandardProposal ( const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

◆ prepareFastDrawSample()

void mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
TParticleProbabilityEvaluator  partEvaluator = defaultEvaluator,
const void *  action = NULL,
const void *  observation = NULL 
) const
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):

  • DYNAMIC SAMPLE SIZE=NO: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.
  • DYNAMIC SAMPLE SIZE=YES: Then:
    • If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.
    • For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.

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.

See also
fastDrawSample

◆ readFromStream()

void mrpt::slam::CMultiMetricMapPDF::readFromStream ( mrpt::utils::CStream in,
int  version 
)
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.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::readParticlesFromStream ( utils::CStream in)
inlineinherited

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See also
writeParticlesToStream

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.

◆ rebuildAverageMap()

void mrpt::slam::CMultiMetricMapPDF::rebuildAverageMap ( )
private

Rebuild the "expected" grid map.

Used internally, do not call

◆ saveCurrentPathEstimationToTextFile()

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).

◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::setW ( size_t  i,
double  w 
)
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.

◆ updateSensoryFrameSequence()

void mrpt::slam::CMultiMetricMapPDF::updateSensoryFrameSequence ( )

Update the poses estimation of the member "SFs" according to the current path belief.

◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::writeParticlesToStream ( utils::CStream out) const
inlineinherited

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See also
readParticlesFromStream

Definition at line 212 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, and MRPT_START.

◆ writeToStream()

void mrpt::slam::CMultiMetricMapPDF::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Friends And Related Function Documentation

◆ CMetricMapBuilderRBPF

friend class CMetricMapBuilderRBPF
friend

Definition at line 66 of file CMultiMetricMapPDF.h.

Member Data Documentation

◆ _init_CMultiMetricMapPDF

mrpt::utils::CLASSINIT mrpt::slam::CMultiMetricMapPDF::_init_CMultiMetricMapPDF
staticprotected

Definition at line 70 of file CMultiMetricMapPDF.h.

◆ averageMap

CMultiMetricMap mrpt::slam::CMultiMetricMapPDF::averageMap
private

Internal buffer for the averaged map.

Definition at line 98 of file CMultiMetricMapPDF.h.

◆ averageMapIsUpdated

bool mrpt::slam::CMultiMetricMapPDF::averageMapIsUpdated
private

Definition at line 99 of file CMultiMetricMapPDF.h.

◆ classCMultiMetricMapPDF

mrpt::utils::TRuntimeClassId mrpt::slam::CMultiMetricMapPDF::classCMultiMetricMapPDF
static

Definition at line 70 of file CMultiMetricMapPDF.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 120 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 35 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::slam::CMultiMetricMapPDF::classinfo
static

Definition at line 70 of file CMultiMetricMapPDF.h.

◆ m_accumRobotMovement2D

Definition at line 66 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_accumRobotMovement2DIsValid
protectedinherited

Definition at line 67 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

Definition at line 68 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_accumRobotMovement3DIsValid
protectedinherited

Definition at line 69 of file PF_implementations_data.h.

◆ m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary
mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 233 of file CParticleFilterCapable.h.

◆ m_movementDrawer

Used in al PF implementations.

See also
PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 71 of file PF_implementations_data.h.

◆ m_particles

The array of particles.

Definition at line 183 of file CParticleFilterData.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

vector_double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFOptimal_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 72 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

std::vector<TPose3D> mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 75 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

vector_double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFOptimal_maxLikelihood
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 74 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

std::vector<bool> mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
protectedinherited

Definition at line 76 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

vector_double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFStandard_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 73 of file PF_implementations_data.h.

◆ newInfoIndex

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.

◆ options

mrpt::slam::CMultiMetricMapPDF::TPredictionParams mrpt::slam::CMultiMetricMapPDF::options

◆ SF2robotPath

std::vector<uint32_t> mrpt::slam::CMultiMetricMapPDF::SF2robotPath
private

A mapping between indexes in the SFs to indexes in the robot paths from particles.

Definition at line 107 of file CMultiMetricMapPDF.h.

◆ SFs

CSimpleMap mrpt::slam::CMultiMetricMapPDF::SFs
private

The SFs and their corresponding pose estimations:

Definition at line 103 of file CMultiMetricMapPDF.h.




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