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mrpt::slam::CMonteCarloLocalization3D Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples.

This class also implements particle filtering for robot localization. See the MRPT application "app/pf-localization" for an example of usage.

See Also
CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 31 of file CMonteCarloLocalization3D.h.

#include <mrpt/slam/CMonteCarloLocalization3D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization3D:
Inheritance graph

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3D type_value
 The type of the state the PDF represents. More...
 
typedef
CProbabilityDensityFunction
< CPose3D, STATE_LEN > 
self_t
 
typedef CPose3D CParticleDataContent
 This is the type inside the corresponding CParticleData class. More...
 
typedef CProbabilityParticle
< CPose3D > 
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

 CMonteCarloLocalization3D (size_t M=1)
 Constructor. More...
 
virtual ~CMonteCarloLocalization3D ()
 Destructor. More...
 
void prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...
 
void prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...
 
void prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...
 
voidoperator new (size_t size)
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void copyFrom (const CPose3DPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...
 
void resetDeterministic (const CPose3D &location, size_t particlesCount=0)
 Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose. More...
 
void getMean (CPose3D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More...
 
virtual void getMean (CPose3D &mean_point) const =0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...
 
virtual void getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose3D &mean_point) const =0
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPose3D getParticlePose (int i) const
 Returns the pose of the i'th particle. More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save PDF's m_particles to a text file. In each line it will go: "x y z". More...
 
size_t size () const
 Get the m_particles count (equivalent to "particlesCount") More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void drawSingleSample (CPose3D &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...
 
virtual void drawSingleSample (CPose3D &outPart) const =0
 Draws a single sample from the distribution. More...
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE
 Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum. More...
 
void operator+= (const CPose3D &Ap)
 Appends (pose-composition) a given pose "p" to each particle. More...
 
void append (CPose3DPDFParticles &o)
 Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. More...
 
void inverse (CPose3DPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3D getMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE
 Bayesian fusion. More...
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...
 
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. 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 getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose3D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPose3D getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
void getCovariance (mrpt::math::CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
void getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
mrpt::math::CMatrixFixedNumeric
< double, STATE_LEN, STATE_LEN > 
getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
virtual bool isInfType () const
 Returns whether the class instance holds the uncertainty in covariance or information form. More...
 
virtual void getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. 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 CPose3DPDFParticlesderived () const
 CRTP helper method. More...
 
CPose3DPDFParticlesderived ()
 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
 
void PF_SLAM_implementation_replaceByNewParticleSet (CParticleList &old_particles, const std::vector< mrpt::math::TPose3D > &newParticles, const std::vector< double > &newParticlesWeight, const std::vector< size_t > &newParticlesDerivedFromIdx) const
 
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
 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 (mrpt::poses::CPose3D *particleData, const mrpt::math::TPose3D &newPose) const =0
 
virtual void PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::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< mrpt::poses::CPose3D >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const
 
virtual bool PF_SLAM_implementation_skipRobotMovement () const
 Make a specialization if needed, eg. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CPose3DPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF. More...
 
static void jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
 This static method computes the pose composition Jacobians. More...
 
static bool is_3D ()
 
static bool is_PDF ()
 
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

TMonteCarloLocalizationParams options
 MCL parameters. More...
 
CParticleList m_particles
 The array of particles. More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
static const size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCPose3DPDF
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

virtual void prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 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...
 
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...
 

RTTI stuff

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...
 
typedef CPose3DPDFParticlesPtr Ptr
 
typedef CPose3DPDFParticlesPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFParticles
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFParticles
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DPDFParticlesPtr 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 CPose3DPDFParticlesPtr mrpt::poses::CPose3DPDFParticles::ConstPtr
inherited

Definition at line 39 of file CPose3DPDFParticles.h.

typedef CProbabilityParticle<CPose3D > mrpt::bayes::CParticleFilterData< CPose3D >::CParticleData
inherited

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

Definition at line 174 of file CParticleFilterData.h.

typedef CPose3D mrpt::bayes::CParticleFilterData< CPose3D >::CParticleDataContent
inherited

This is the type inside the corresponding CParticleData class.

Definition at line 173 of file CParticleFilterData.h.

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList
inherited

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

Definition at line 175 of file CParticleFilterData.h.

typedef CPose3DPDFParticlesPtr mrpt::poses::CPose3DPDFParticles::Ptr
inherited

A typedef for the associated smart pointer

Definition at line 39 of file CPose3DPDFParticles.h.

typedef CProbabilityDensityFunction<CPose3D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t
inherited

Definition at line 33 of file CProbabilityDensityFunction.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.

typedef CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value
inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 91 of file CPose3DPDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

CMonteCarloLocalization3D::CMonteCarloLocalization3D ( size_t  M = 1)

Constructor.

Parameters
MThe number of m_particles.

Definition at line 76 of file CMonteCarloLocalization3D.cpp.

CMonteCarloLocalization3D::~CMonteCarloLocalization3D ( )
virtual

Destructor.

Definition at line 85 of file CMonteCarloLocalization3D.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::_GetBaseClass ( )
staticprotectedinherited
void CPose3DPDFParticles::append ( CPose3DPDFParticles o)
inherited

Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.

Definition at line 316 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPose3DPDFParticles::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
virtualinherited

Bayesian fusion.

Implements mrpt::poses::CPose3DPDF.

Definition at line 366 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPose3DPDFParticles::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtualinherited

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 278 of file CPose3DPDFParticles.cpp.

void mrpt::bayes::CParticleFilterData< CPose3D >::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.

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.

void CPose3DPDFParticles::copyFrom ( const CPose3DPDF o)
virtualinherited

Copy operator, translating if necesary (for example, between m_particles and gaussian representations)

Implements mrpt::poses::CPose3DPDF.

Definition at line 44 of file CPose3DPDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::poses::CPose3DPDFParticles::inverse(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

static CPose3DPDFParticlesPtr mrpt::poses::CPose3DPDFParticles::Create ( )
staticinherited
CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited
static mrpt::utils::CObject* mrpt::poses::CPose3DPDFParticles::CreateObject ( )
staticinherited
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.

void CPose3DPDFParticles::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
virtualinherited

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 296 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPose3DPDFParticles::drawSingleSample ( CPose3D outPart) const
inherited

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 287 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_3D().

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFParticles::duplicate ( ) const
virtualinherited

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().

double mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList >::ESS ( ) const
inlinevirtualinherited

Returns the normalized ESS (Estimated Sample Size), in the range [0,1].

Note that you do NOT need to normalize the weights before calling this.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 78 of file CParticleFilterData.h.

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().

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()
See Also
mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 102 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 111 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 68 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getInformationMatrix

Definition at line 86 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3D &  mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also
getMean, getInformationMatrix
void CPose3DPDFParticles::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const
inherited
void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose3D &  mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also
getMean, getInformationMatrix

Definition at line 48 of file CProbabilityDensityFunction.h.

double mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See Also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 144 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See Also
getMean, getCovarianceAndMean

Definition at line 106 of file CProbabilityDensityFunction.h.

TPose3D CMonteCarloLocalization3D::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< mrpt::poses::CPose3D, CMonteCarloLocalization3D >.

Definition at line 93 of file CMonteCarloLocalization3D.cpp.

References ASSERTDEB_, mrpt::bayes::CParticleFilterData< CPose3D >::m_particles, and THROW_EXCEPTION.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( CPose3D &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also
getCovarianceAndMean, getInformationMatrix
void CPose3DPDFParticles::getMean ( CPose3D mean_pose) const
inherited
CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also
getCovariance, getInformationMatrix

Definition at line 58 of file CProbabilityDensityFunction.h.

CPose3D CPose3DPDFParticles::getMostLikelyParticle ( ) const
inherited

Returns the particle with the highest weight.

Definition at line 346 of file CPose3DPDFParticles.cpp.

CPose3D CPose3DPDFParticles::getParticlePose ( int  i) const
inherited

Returns the pose of the i'th particle.

Definition at line 270 of file CPose3DPDFParticles.cpp.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::GetRuntimeClass ( ) const
virtualinherited

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

double mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList >::getW ( size_t  i) const
inlinevirtualinherited

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.

void mrpt::bayes::CParticleFilterData< CPose3D >::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.

void CPose3DPDFParticles::inverse ( CPose3DPDF o) const
virtualinherited
static bool mrpt::poses::CPose3DPDF::is_3D ( )
inlinestaticinherited

Definition at line 92 of file CPose3DPDF.h.

static bool mrpt::poses::CPose3DPDF::is_PDF ( )
inlinestaticinherited

Definition at line 94 of file CPose3DPDF.h.

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See Also
mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

void CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
mrpt::math::CMatrixDouble66 df_dx,
mrpt::math::CMatrixDouble66 df_du 
)
staticinherited
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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::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.

void mrpt::poses::CPose3DPDFParticles::operator delete ( void memory,
void ptr 
)
throw (
)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void mrpt::poses::CPose3DPDFParticles::operator delete ( void ptr)
throw (
)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void mrpt::poses::CPose3DPDFParticles::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void mrpt::poses::CPose3DPDFParticles::operator delete[] ( void ptr)
throw (
)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void* mrpt::poses::CPose3DPDFParticles::operator new ( size_t  size)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

static void* mrpt::poses::CPose3DPDFParticles::operator new ( size_t  size,
void ptr 
)
inlinestaticinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void* mrpt::poses::CPose3DPDFParticles::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void* mrpt::poses::CPose3DPDFParticles::operator new[] ( size_t  size)
inlineinherited

Definition at line 39 of file CPose3DPDFParticles.h.

void CPose3DPDFParticles::operator+= ( const CPose3D Ap)
inherited

Appends (pose-composition) a given pose "p" to each particle.

Definition at line 307 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

size_t mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList >::particlesCount ( ) const
inlinevirtualinherited

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 50 of file CParticleFilterData.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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::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.

double CMonteCarloLocalization3D::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
void CMonteCarloLocalization3D::PF_SLAM_implementation_custom_update_particle_with_new_pose ( CParticleDataContent particleData,
const mrpt::math::TPose3D newPose 
) const

Definition at line 203 of file CMonteCarloLocalization3D.cpp.

virtual void mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::PF_SLAM_implementation_custom_update_particle_with_new_pose ( mrpt::poses::CPose3D particleData,
const mrpt::math::TPose3D newPose 
) const
pure virtualinherited
virtual bool mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::PF_SLAM_implementation_doWeHaveValidObservations ( const typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::CParticleList &  particles,
const mrpt::obs::CSensoryFrame sf 
) const
inlinevirtualinherited

Definition at line 230 of file PF_implementations_data.h.

References MRPT_UNUSED_PARAM.

bool mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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.
void CMonteCarloLocalization3D::PF_SLAM_implementation_replaceByNewParticleSet ( CParticleList old_particles,
const std::vector< mrpt::math::TPose3D > &  newParticles,
const std::vector< double > &  newParticlesWeight,
const std::vector< size_t > &  newParticlesDerivedFromIdx 
) const

Definition at line 211 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, and MRPT_UNUSED_PARAM.

virtual void mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::PF_SLAM_implementation_replaceByNewParticleSet ( typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::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.

References ASSERT_, and mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_custom_update_particle_with_new_pose().

virtual bool mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::PF_SLAM_implementation_skipRobotMovement ( ) const
inlinevirtualinherited

Make a specialization if needed, eg.

in the first step in SLAM.

Definition at line 239 of file PF_implementations_data.h.

static double mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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 CMonteCarloLocalization3D::prediction_and_update_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
virtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters
ActionThis is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observationThis must be a pointer to a CSensoryFrame object, with robot sensed observations.
See Also
options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 157 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< CPose3D >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

void CMonteCarloLocalization3D::prediction_and_update_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
virtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters
ActionThis is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observationThis must be a pointer to a CSensoryFrame object, with robot sensed observations.
See Also
options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 132 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< CPose3D >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

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

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

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.

Definition at line 325 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CMonteCarloLocalization3D::prediction_and_update_pfStandardProposal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
virtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters
actionThis is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observationThis must be a pointer to a CSensoryFrame object, with robot sensed observations.
See Also
options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 108 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< CPose3D >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

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 CPose3DPDFParticles::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtualinherited

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 225 of file CPose3DPDFParticles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void mrpt::bayes::CParticleFilterData< CPose3D >::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.

void CPose3DPDFParticles::resetDeterministic ( const CPose3D location,
size_t  particlesCount = 0 
)
inherited

Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

Parameters
locationThe location to set all the m_particles.
particlesCountIf this is set to 0 the number of m_particles remains unchanged.
See Also
resetUniform, resetUniformFreeSpace

Definition at line 377 of file CPose3DPDFParticles.cpp.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles(), and mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose().

void CPose3DPDFParticles::saveToTextFile ( const std::string file) const
virtualinherited

Save PDF's m_particles to a text file. In each line it will go: "x y z".

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 244 of file CPose3DPDFParticles.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

void mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::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 44 of file CParticleFilterData.h.

size_t mrpt::poses::CPose3DPDFParticles::size ( ) const
inlineinherited

Get the m_particles count (equivalent to "particlesCount")

Definition at line 63 of file CPose3DPDFParticles.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

void mrpt::bayes::CParticleFilterData< CPose3D >::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.

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 CPose3DPDFParticles::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtualinherited

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 212 of file CPose3DPDFParticles.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFParticles::_init_CPose3DPDFParticles
staticprotectedinherited

Definition at line 39 of file CPose3DPDFParticles.h.

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

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF
staticinherited

Definition at line 42 of file CPose3DPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFParticles::classCPose3DPDFParticles
staticinherited

Definition at line 39 of file CPose3DPDFParticles.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::classinfo
staticinherited

Definition at line 39 of file CPose3DPDFParticles.h.

Definition at line 55 of file PF_implementations_data.h.

bool mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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.

CParticleList mrpt::bayes::CParticleFilterData< CPose3D >::m_particles
inherited
mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::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< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
protectedinherited

Definition at line 65 of file PF_implementations_data.h.

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::poses::CPose3D , CMonteCarloLocalization3D >::m_pfAuxiliaryPFStandard_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 62 of file PF_implementations_data.h.

TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization3D::options
const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::state_length
staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 31 of file CProbabilityDensityFunction.h.




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