9 #ifndef CRangeBearingKFSLAM2D_H 10 #define CRangeBearingKFSLAM2D_H 60 void processActionObservation(
61 mrpt::obs::CActionCollectionPtr &action,
62 mrpt::obs::CSensoryFramePtr &SF );
74 std::vector<mrpt::math::TPoint2D> &out_landmarksPositions,
75 std::map<unsigned int,mrpt::maps::CLandmark::TLandmarkID> &out_landmarkIDs,
83 void getCurrentRobotPose(
89 void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj )
const;
124 void saveMapAndPath2DRepresentationAsMATLABFile(
145 predictions_IDs.clear();
146 newly_inserted_landmarks.clear();
163 return m_last_data_association;
175 void OnGetAction( KFArray_ACT &out_u )
const;
182 void OnTransitionModel(
183 const KFArray_ACT &in_u,
184 KFArray_VEH &inout_x,
185 bool &out_skipPrediction
192 void OnTransitionJacobian( KFMatrix_VxV &out_F )
const;
196 void OnTransitionJacobianNumericGetIncrements(KFArray_VEH &out_increments)
const;
203 void OnTransitionNoise( KFMatrix_VxV &out_Q )
const;
215 void OnGetObservationsAndDataAssociation(
216 vector_KFArray_OBS &out_z,
218 const vector_KFArray_OBS &in_all_predictions,
219 const KFMatrix &in_S,
221 const KFMatrix_OxO &in_R
224 void OnObservationModel(
226 vector_KFArray_OBS &out_predictions
234 void OnObservationJacobians(
235 const size_t &idx_landmark_to_predict,
242 void OnObservationJacobiansNumericGetIncrements(
243 KFArray_VEH &out_veh_increments,
244 KFArray_FEAT &out_feat_increments )
const;
249 void OnSubstractObservationVectors(KFArray_OBS &A,
const KFArray_OBS &B)
const;
254 void OnGetObservationNoise(KFMatrix_OxO &out_R)
const;
263 void OnPreComputingPredictions(
264 const vector_KFArray_OBS &in_all_prediction_means,
279 void OnInverseObservationModel(
280 const KFArray_OBS & in_z,
281 KFArray_FEAT & out_yn,
282 KFMatrix_FxV & out_dyn_dxv,
283 KFMatrix_FxO & out_dyn_dhn )
const;
290 void OnNewLandmarkAddedToMap(
291 const size_t in_obsIdx,
292 const size_t in_idxNewFeat );
297 void OnNormalizeStateVector();
303 void getLandmarkIDsFromIndexInStateVector(std::map<unsigned int,mrpt::maps::CLandmark::TLandmarkID> &out_id2index)
const 305 out_id2index = m_IDs.getInverseMap();
311 mrpt::obs::CActionCollectionPtr m_action;
314 mrpt::obs::CSensoryFramePtr m_SF;
mrpt::math::CVectorFloat stds_Q_no_odo
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there i...
An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot p...
TOptions options
The options for the algorithm.
TDataAssociationMetric data_assoc_metric
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
std::map< size_t, size_t > newly_inserted_landmarks
Map from the 0-based index within the last observation and the landmark 0-based index in the map (the...
bool create_simplemap
Whether to fill m_SFs (default=false)
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
mrpt::math::CMatrixTemplateNumeric< kftype > Y_pred_means
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Declares a class that represents a Probability Density function (PDF) of a 2D pose ...
float quantiles_3D_representation
Default = 3.
TDataAssociationMethod data_assoc_method
TDataAssociationMetric
Different metrics for data association, used in mrpt::slam::data_association For a comparison of both...
Information for data-association:
double data_assoc_IC_ml_threshold
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
Virtual base for Kalman Filter (EKF,IEKF,UKF) implementations.
mrpt::math::TPoint2D landmark_point_t
Either mrpt::math::TPoint2D or mrpt::math::TPoint3D.
GLsizei const GLchar ** string
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double data_assoc_IC_chi2_thres
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and obser...
float std_sensor_yaw
The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians...
TDataAssociationMetric data_assoc_IC_metric
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
TDataAssociationResults results
The options for the algorithm.
GLsizei GLsizei GLchar * source
std::vector< size_t > vector_size_t
std::vector< int32_t > vector_int
The results from mrpt::slam::data_association.
TDataAssociationMethod
Different algorithms for data association, used in mrpt::slam::data_association.
mrpt::vector_size_t predictions_IDs
const TDataAssocInfo & getLastDataAssociation() const
Returns a read-only reference to the information on the last data-association.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
std::vector< size_t > vector_size_t