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mrpt::maps::CMultiMetricMapPDF Class Referenceabstract

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 62 of file maps/CMultiMetricMapPDF.h.

#include <mrpt/maps/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::maps::CMultiMetricMapPDF:
Inheritance graph

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< 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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CMultiMetricMapPDF (const bayes::CParticleFilter::TParticleFilterOptions &opts=bayes::CParticleFilter::TParticleFilterOptions(), const mrpt::maps::TSetOfMetricMapInitializers *mapsInitializers=NULL, const TPredictionParams *predictionOptions=NULL)
 Constructor. More...
 
void clear (const mrpt::poses::CPose2D &initialPose)
 Clear all elements of the maps, and restore all paths to a single starting pose. More...
 
void clear (const mrpt::poses::CPose3D &initialPose)
 
void clear (const mrpt::maps::CSimpleMap &prevMap, const mrpt::poses::CPose3D &currentPose)
 Resets the map by loading an already-mapped map for past poses. More...
 
void getEstimatedPosePDFAtTime (size_t timeStep, mrpt::poses::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 (mrpt::poses::CPose3DPDFParticles &out_estimation) const
 Returns the current estimate of the robot pose, as a particles PDF. More...
 
const CMultiMetricMapgetAveragedMetricMapEstimation ()
 Returns the weighted averaged map based on the current best estimation. More...
 
const CMultiMetricMapgetCurrentMostLikelyMetricMap () const
 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...
 
bool insertObservation (mrpt::obs::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...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. 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 (STREAM &out) const
 Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More...
 
void readParticlesFromStream (STREAM &in)
 Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More...
 
void getWeights (std::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 MRPT_OVERRIDE
 Access to i'th particle (logarithm) weight, where first one is index 0. More...
 
void setW (size_t i, double w) MRPT_OVERRIDE
 Modifies i'th particle (logarithm) weight, where first one is index 0. More...
 
size_t particlesCount () const MRPT_OVERRIDE
 Get the m_particles count. More...
 
double normalizeWeights (double *out_max_log_w=NULL) MRPT_OVERRIDE
 Normalize the (logarithmic) weights, such as the maximum weight is zero. More...
 
double ESS () const MRPT_OVERRIDE
 Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...
 
void performSubstitution (const std::vector< size_t > &indx) MRPT_OVERRIDE
 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::obs::CActionCollection *action, const mrpt::obs::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 mrpt::obs::CActionCollection *actions, const mrpt::obs::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.
mrpt::math::TPose3D getLastPose (const size_t i, bool &pose_is_valid) const MRPT_OVERRIDE
 Return the last robot pose in the i'th particle; pose_is_valid will be false if particle is a path and it's empty. More...
 
void PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const mrpt::math::TPose3D &newPose) const MRPT_OVERRIDE
 
bool PF_SLAM_implementation_doWeHaveValidObservations (const CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const MRPT_OVERRIDE
 
bool PF_SLAM_implementation_skipRobotMovement () const MRPT_OVERRIDE
 Do not move the particles until the map is populated. More...
 
double PF_SLAM_computeObservationLikelihoodForParticle (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const size_t particleIndexForMap, const mrpt::obs::CSensoryFrame &observation, const mrpt::poses::CPose3D &x) const MRPT_OVERRIDE
 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_custom_update_particle_with_new_pose (CRBPFParticleData *particleData, const mrpt::math::TPose3D &newPose) const =0
 
virtual void PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList &old_particles, const std::vector< mrpt::math::TPose3D > &newParticles, const std::vector< double > &newParticlesWeight, const std::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 mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
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 std::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 std::vector< double > &in_logWeights, std::vector< double > &out_linWeights)
 A static method to compute the linear, normalized (the sum the unity) weights from log-weights. More...
 

Public Attributes

mrpt::maps::CMultiMetricMapPDF::TPredictionParams options
 
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::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) MRPT_OVERRIDE
 Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
void prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) MRPT_OVERRIDE
 Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
void prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) MRPT_OVERRIDE
 Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
void prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) MRPT_OVERRIDE
 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 mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::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 mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::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 mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::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

void rebuildAverageMap ()
 Rebuild the "expected" grid map. More...
 

Private Attributes

mrpt::maps::CMultiMetricMap averageMap
 Internal buffer for the averaged map. More...
 
bool averageMapIsUpdated
 
mrpt::maps::CSimpleMap SFs
 The SFs and their corresponding pose estimations. More...
 
std::vector< uint32_tSF2robotPath
 A mapping between indexes in the SFs to indexes in the robot paths from particles. More...
 
float newInfoIndex
 An index [0,1] measuring how much information an observation aports to the map (Typ. threshold=0.07) More...
 

Friends

class mrpt::slam::CMetricMapBuilderRBPF
 

RTTI stuff

typedef CMultiMetricMapPDFPtr Ptr
 
typedef CMultiMetricMapPDFPtr ConstPtr
 
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::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 mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::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 mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
 
mrpt::obs::CActionRobotMovement2D m_accumRobotMovement2D
 
bool m_accumRobotMovement2DIsValid
 
mrpt::poses::CPose3DPDFGaussian m_accumRobotMovement3D
 
bool m_accumRobotMovement3DIsValid
 
mrpt::poses::CPoseRandomSampler m_movementDrawer
 Used in al PF implementations. More...
 
mrpt::math::CVectorDouble m_pfAuxiliaryPFOptimal_estimatedProb
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
mrpt::math::CVectorDouble m_pfAuxiliaryPFStandard_estimatedProb
 Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm. More...
 
mrpt::math::CVectorDouble m_pfAuxiliaryPFOptimal_maxLikelihood
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< mrpt::math::TPose3Dm_pfAuxiliaryPFOptimal_maxLikDrawnMovement
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< bool > m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
 

Member Typedef Documentation

typedef CMultiMetricMapPDFPtr mrpt::maps::CMultiMetricMapPDF::ConstPtr

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

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

Definition at line 174 of file CParticleFilterData.h.

This is the type inside the corresponding CParticleData class.

Definition at line 173 of file CParticleFilterData.h.

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

Definition at line 175 of file CParticleFilterData.h.

typedef CMultiMetricMapPDFPtr mrpt::maps::CMultiMetricMapPDF::Ptr

A typedef for the associated smart pointer

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

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

Constructor.

Definition at line 47 of file CMultiMetricMapPDF.cpp.

References mrpt::utils::clear().

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CMultiMetricMapPDF::_GetBaseClass ( )
staticprotected
void CMultiMetricMapPDF::clear ( const mrpt::poses::CPose2D initialPose)

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

Definition at line 77 of file CMultiMetricMapPDF.cpp.

References mrpt::utils::clear().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), and mrpt::slam::CMetricMapBuilderRBPF::initialize().

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

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 86 of file CMultiMetricMapPDF.cpp.

void CMultiMetricMapPDF::clear ( const mrpt::maps::CSimpleMap prevMap,
const mrpt::poses::CPose3D currentPose 
)

Resets the map by loading an already-mapped map for past poses.

Current robot pose should be normally set to the last keyframe in the simplemap.

Definition at line 105 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::utils::clear(), mrpt::maps::CSimpleMap::clear(), mrpt::maps::CSimpleMap::get(), IS_CLASS, and mrpt::maps::CSimpleMap::size().

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 183 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterData< T >::m_particles.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CParticleFilterCapable::computeResampling ( CParticleFilter::TParticleResamplingAlgorithm  method,
const std::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

Definition at line 64 of file CParticleFilterCapable.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), int(), mrpt::math::maximum(), MRPT_END, MRPT_START, R, mrpt::random::randomGenerator, and THROW_EXCEPTION.

static CMultiMetricMapPDFPtr mrpt::maps::CMultiMetricMapPDF::Create ( )
static
static mrpt::utils::CObject* mrpt::maps::CMultiMetricMapPDF::CreateObject ( )
static
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.

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

CRTP helper method.

Definition at line 36 of file CParticleFilterData.h.

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

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

Implements mrpt::utils::CObject.

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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

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 78 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::math::square().

size_t 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

Definition at line 454 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::random::randomGenerator, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

const CMultiMetricMap * CMultiMetricMapPDF::getAveragedMetricMapEstimation ( )

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.

See Also
Almost 100% sure you would prefer the best current map, given by getCurrentMostLikelyMetricMap()

Definition at line 307 of file CMultiMetricMapPDF.cpp.

double 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.

Definition at line 471 of file CMultiMetricMapPDF.cpp.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceEntropy().

double 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.

Definition at line 501 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, and min.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentJointEntropy().

const CMultiMetricMap * CMultiMetricMapPDF::getCurrentMostLikelyMetricMap ( ) const

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

Definition at line 555 of file CMultiMetricMapPDF.cpp.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap().

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

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

See Also
getEstimatedPosePDFAtTime

Definition at line 169 of file CMultiMetricMapPDF.cpp.

References ASSERT_.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

void CMultiMetricMapPDF::getEstimatedPosePDFAtTime ( size_t  timeStep,
mrpt::poses::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

Definition at line 178 of file CMultiMetricMapPDF.cpp.

References mrpt::bayes::CParticleFilterData< T >::clearParticles(), and mrpt::bayes::CParticleFilterData< T >::m_particles.

TPose3D CMultiMetricMapPDF::getLastPose ( const size_t  i,
bool &  pose_is_valid 
) const
virtual

Return the last robot pose in the i'th particle; pose_is_valid will be false if particle is a path and it's empty.

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

Definition at line 292 of file CMultiMetricMapPDF.cpp.

References THROW_EXCEPTION.

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

Returns the particle with the highest weight.

Definition at line 240 of file CParticleFilterData.h.

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

size_t mrpt::maps::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap ( ) const
inline

Get the number of CSensoryFrame inserted into the internal member SFs.

Definition at line 176 of file maps/CMultiMetricMapPDF.h.

void 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

Definition at line 461 of file CMultiMetricMapPDF.cpp.

References THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath().

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Access to i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 38 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::getWeights ( std::vector< double > &  out_logWeights) const
inlineinherited

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 227 of file CParticleFilterData.h.

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

bool CMultiMetricMapPDF::insertObservation ( mrpt::obs::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
Returns
true if any may was updated, false otherwise

Definition at line 428 of file CMultiMetricMapPDF.cpp.

References mrpt::poses::CPose3DPDFParticles::Create(), and mrpt::obs::CSensoryFrame::insertObservationsInto().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

void CParticleFilterCapable::log2linearWeights ( const std::vector< double > &  in_logWeights,
std::vector< double > &  out_linWeights 
)
staticinherited

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

See Also
performResampling

Definition at line 509 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

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 55 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.

void mrpt::maps::CMultiMetricMapPDF::operator delete ( void ptr)
throw (
)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void mrpt::maps::CMultiMetricMapPDF::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void mrpt::maps::CMultiMetricMapPDF::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void mrpt::maps::CMultiMetricMapPDF::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

static void* mrpt::maps::CMultiMetricMapPDF::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void* mrpt::maps::CMultiMetricMapPDF::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void* mrpt::maps::CMultiMetricMapPDF::operator new ( size_t  size)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void* mrpt::maps::CMultiMetricMapPDF::operator new[] ( size_t  size)
inline

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

void 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

Definition at line 29 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

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 98 of file CParticleFilterData.h.

References ASSERT_, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.

double CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle ( const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
const size_t  particleIndexForMap,
const mrpt::obs::CSensoryFrame observation,
const mrpt::poses::CPose3D x 
) const
virtual
virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_custom_update_particle_with_new_pose ( CRBPFParticleData *  particleData,
const mrpt::math::TPose3D newPose 
) const
pure virtualinherited
void CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose ( CParticleDataContent particleData,
const mrpt::math::TPose3D newPose 
) const
bool CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations ( const CParticleList particles,
const mrpt::obs::CSensoryFrame sf 
) const

Definition at line 894 of file CMultiMetricMapPDF_RBPF.cpp.

References ASSERT_.

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

Definition at line 230 of file PF_implementations_data.h.

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

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::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. Gonzalez, and J.-A. Fernandez-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. Gonzalez, and J.-A. Fernandez-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. 461466.

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::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.

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_pfStandardProposal ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::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.
virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::PF_SLAM_implementation_replaceByNewParticleSet ( typename mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList &  old_particles,
const std::vector< mrpt::math::TPose3D > &  newParticles,
const std::vector< double > &  newParticlesWeight,
const std::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 164 of file PF_implementations_data.h.

bool CMultiMetricMapPDF::PF_SLAM_implementation_skipRobotMovement ( ) const
virtual

Do not move the particles until the map is populated.

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

Definition at line 904 of file CMultiMetricMapPDF_RBPF.cpp.

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

Parameters
actionMUST be a "const CPose3D*"
observationMUST be a "const CSensoryFrame*"
actionMUST be a "const mrpt::poses::CPose3D*"
observationMUST be a "const CSensoryFrame*"
void CParticleFilterCapable::prediction_and_update ( const mrpt::obs::CActionCollection action,
const mrpt::obs::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

Definition at line 272 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, and THROW_EXCEPTION.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

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

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

See Also
prediction_and_update

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 139 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

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

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 from mrpt::bayes::CParticleFilterCapable.

Definition at line 154 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

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

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

See Also
prediction_and_update
Todo:
Add paper ref!
/

COpenGLScene scene; opengl::CSetOfObjects *obj = new opengl::CSetOfObjects(); fusedObsModels.getAs3DObject( *obj ); scene.insert( obj ); CFileStream("debug.3Dscene",fomWrite) << scene; cout << "fusedObsModels # of modes: " << fusedObsModels.m_modes.size() << endl; printf("ESS: %f\n",fusedObsModels.ESS() ); cout << fusedObsModels.getEstimatedCovariance() << endl; mrpt::system::pause(); /

/
                                                            CPointPDFSOG    newObsModel;
                                                            (itBeacs)->generateObservationModelDistribution(
                                                                    sensedRange,
                                                                    newObsModel,
                                                                    beacMap,                                 // The beacon map, for options
                                                                    itObs->sensorLocationOnRobot,// Sensor location on robot
                                                                    centerPositionPrior,
                                                                    centerPositionPriorRadius );

/

Todo:
If there are 2+ sensors on the robot, compute phi?

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 182 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), ASSERT_, mrpt::poses::CPointPDFSOG::bayesianFusion(), TAuxRangeMeasInfo::beaconID, mrpt::poses::CPointPDFSOG::begin(), mrpt::obs::CSensoryFrame::begin(), mrpt::poses::CPointPDFSOG::clear(), TAuxRangeMeasInfo::cmp_Asc(), mrpt::poses::CPosePDFGaussian::copyFrom(), mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussian::cov, DEG2RAD, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::poses::CPoseRandomSampler::drawSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::poses::CPointPDFSOG::end(), mrpt::obs::CSensoryFrame::end(), mrpt::poses::CPointPDFSOG::erase(), mrpt::poses::CPointPDFSOG::ESS(), mrpt::format(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::poses::CPose2DGridTemplate< T >::getAsMatrix(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::poses::CPose2DGridTemplate< T >::getByIndex(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::poses::CPointPDFSOG::getMean(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D(), mrpt::poses::CPose2DGridTemplate< T >::getSizeX(), mrpt::poses::CPose2DGridTemplate< T >::getSizeY(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::poses::CPose2DGridTemplate< T >::idx2x(), mrpt::poses::CPose2DGridTemplate< T >::idx2y(), mrpt::obs::CSensoryFrame::insertObservationsInto(), INVALID_BEACON_ID, IS_CLASS, mrpt::poses::CPoseRandomSampler::isPrepared(), mrpt::utils::keep_max(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, mrpt::poses::CPointPDFGaussian::mean, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, TAuxRangeMeasInfo::nGaussiansInMap, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::CPosePDFGrid::normalize(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor, mrpt::poses::CPointPDFSOG::push_back(), mrpt::random::randomGenerator, mrpt::poses::CPointPDFSOG::resize(), mrpt::utils::CImage::saveToFile(), mrpt::obs::CObservationBeaconRanges::sensedData, TAuxRangeMeasInfo::sensedDistance, TAuxRangeMeasInfo::sensorLocationOnRobot, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseRandomSampler::setPosePDF(), mrpt::poses::CPointPDFSOG::size(), mrpt::math::square(), THROW_EXCEPTION, mrpt::poses::CPosePDFGrid::uniformDistribution(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

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

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

See Also
prediction_and_update

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 869 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

void 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

Definition at line 348 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, int(), mrpt::math::maximum(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

void 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.

Definition at line 246 of file CMultiMetricMapPDF.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::readParticlesFromStream ( STREAM &  in)
inlineinherited

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

See Also
writeParticlesToStream

Definition at line 207 of file CParticleFilterData.h.

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

void CMultiMetricMapPDF::rebuildAverageMap ( )
private

Rebuild the "expected" grid map.

Used internally, do not call

Definition at line 317 of file CMultiMetricMapPDF.cpp.

References ASSERT_, min, MRPT_END, and MRPT_START.

void 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).

Definition at line 601 of file CMultiMetricMapPDF.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile().

Modifies i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 44 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.

void CMultiMetricMapPDF::updateSensoryFrameSequence ( )

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

Definition at line 576 of file CMultiMetricMapPDF.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap().

void mrpt::bayes::CParticleFilterData< CRBPFParticleData >::writeParticlesToStream ( STREAM &  out) const
inlineinherited

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

See Also
readParticlesFromStream

Definition at line 192 of file CParticleFilterData.h.

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

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void 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.

Definition at line 220 of file CMultiMetricMapPDF.cpp.

Friends And Related Function Documentation

friend class mrpt::slam::CMetricMapBuilderRBPF
friend

Definition at line 68 of file maps/CMultiMetricMapPDF.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CMultiMetricMapPDF::_init_CMultiMetricMapPDF
staticprotected

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

mrpt::maps::CMultiMetricMap mrpt::maps::CMultiMetricMapPDF::averageMap
private

Internal buffer for the averaged map.

Definition at line 95 of file maps/CMultiMetricMapPDF.h.

bool mrpt::maps::CMultiMetricMapPDF::averageMapIsUpdated
private

Definition at line 96 of file maps/CMultiMetricMapPDF.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CMultiMetricMapPDF::classCMultiMetricMapPDF
static

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 42 of file CSerializable.h.

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

Definition at line 71 of file maps/CMultiMetricMapPDF.h.

Definition at line 55 of file PF_implementations_data.h.

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

Definition at line 56 of file PF_implementations_data.h.

Definition at line 57 of file PF_implementations_data.h.

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

Definition at line 58 of file PF_implementations_data.h.

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

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

Definition at line 233 of file CParticleFilterCapable.h.

Used in al PF implementations.

See Also
PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 60 of file PF_implementations_data.h.

The array of particles.

Definition at line 177 of file CParticleFilterData.h.

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFOptimal_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 61 of file PF_implementations_data.h.

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

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 64 of file PF_implementations_data.h.

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFOptimal_maxLikelihood
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 63 of file PF_implementations_data.h.

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

Definition at line 65 of file PF_implementations_data.h.

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF >::m_pfAuxiliaryPFStandard_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 62 of file PF_implementations_data.h.

float mrpt::maps::CMultiMetricMapPDF::newInfoIndex
private

An index [0,1] measuring how much information an observation aports to the map (Typ. threshold=0.07)

Definition at line 209 of file maps/CMultiMetricMapPDF.h.

mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::maps::CMultiMetricMapPDF::options
std::vector<uint32_t> mrpt::maps::CMultiMetricMapPDF::SF2robotPath
private

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

Definition at line 99 of file maps/CMultiMetricMapPDF.h.

mrpt::maps::CSimpleMap mrpt::maps::CMultiMetricMapPDF::SFs
private



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