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mrpt::slam::CRejectionSamplingRangeOnlyLocalization Class Reference

Detailed Description

An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map.

Before calling the method "rejectionSampling" to generate the samples, you must call "setParams". It is assumed a planar scenario, where the robot is at a fixed height (default=0).

See Also
bayes::CRejectionSamplingCapable

Definition at line 32 of file CRejectionSamplingRangeOnlyLocalization.h.

#include <mrpt/slam/CRejectionSamplingRangeOnlyLocalization.h>

Inheritance diagram for mrpt::slam::CRejectionSamplingRangeOnlyLocalization:
Inheritance graph

Classes

struct  TDataPerBeacon
 Data for each beacon observation with a correspondence with the map. More...
 

Public Types

typedef CProbabilityParticle
< mrpt::poses::CPose2D
TParticle
 

Public Member Functions

 CRejectionSamplingRangeOnlyLocalization ()
 Constructor. More...
 
virtual ~CRejectionSamplingRangeOnlyLocalization ()
 Destructor. More...
 
bool setParams (const mrpt::maps::CLandmarksMap &beaconsMap, const mrpt::obs::CObservationBeaconRanges &observation, float sigmaRanges, const mrpt::poses::CPose2D &oldPose, float robot_z=0, bool autoCheckAngleRanges=true)
 The parameters used in the generation of random samples: More...
 
void rejectionSampling (size_t desiredSamples, std::vector< TParticle > &outSamples, size_t timeoutTrials=1000)
 Generates a set of N independent samples via rejection sampling. More...
 

Protected Member Functions

void RS_drawFromProposal (mrpt::poses::CPose2D &outSample)
 Generates one sample, drawing from some proposal distribution. More...
 
double RS_observationLikelihood (const mrpt::poses::CPose2D &x)
 Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). More...
 

Protected Attributes

float m_z_robot
 Z coordinate of the robot. More...
 
float m_sigmaRanges
 
mrpt::poses::CPose2D m_oldPose
 
size_t m_drawIndex
 The index in "m_dataPerBeacon" used to draw samples (the rest will be used to evaluate the likelihood) More...
 
std::deque< TDataPerBeaconm_dataPerBeacon
 Data for each beacon observation with a correspondence with the map. More...
 

Member Typedef Documentation

Definition at line 31 of file CRejectionSamplingCapable.h.

Constructor & Destructor Documentation

CRejectionSamplingRangeOnlyLocalization::CRejectionSamplingRangeOnlyLocalization ( )

Constructor.

Definition at line 31 of file CRejectionSamplingRangeOnlyLocalization.cpp.

virtual mrpt::slam::CRejectionSamplingRangeOnlyLocalization::~CRejectionSamplingRangeOnlyLocalization ( )
inlinevirtual

Destructor.

Definition at line 42 of file CRejectionSamplingRangeOnlyLocalization.h.

Member Function Documentation

void mrpt::bayes::CRejectionSamplingCapable< mrpt::poses::CPose2D >::rejectionSampling ( size_t  desiredSamples,
std::vector< TParticle > &  outSamples,
size_t  timeoutTrials = 1000 
)
inlineinherited

Generates a set of N independent samples via rejection sampling.

Parameters
desiredSamplesThe number of desired samples to generate
outSamplesThe output samples.
timeoutTrialsThe maximum number of rejection trials for each generated sample (i.e. the maximum number of iterations). This can be used to set a limit to the time complexity of the algorithm for difficult probability densities. All will have equal importance weights (a property of rejection sampling), although those samples generated at timeout will have a different importance weights.

Definition at line 46 of file CRejectionSamplingCapable.h.

References ASSERT_, MRPT_END, MRPT_START, mrpt::random::randomGenerator, mrpt::bayes::CRejectionSamplingCapable< TStateSpace >::RS_drawFromProposal(), and mrpt::bayes::CRejectionSamplingCapable< TStateSpace >::RS_observationLikelihood().

void CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal ( mrpt::poses::CPose2D outSample)
protectedvirtual
double CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood ( const mrpt::poses::CPose2D x)
protectedvirtual

Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]).

Implements mrpt::bayes::CRejectionSamplingCapable< mrpt::poses::CPose2D >.

Definition at line 78 of file CRejectionSamplingRangeOnlyLocalization.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), m_dataPerBeacon, m_drawIndex, m_sigmaRanges, MRPT_END, MRPT_START, and mrpt::math::square().

bool CRejectionSamplingRangeOnlyLocalization::setParams ( const mrpt::maps::CLandmarksMap beaconsMap,
const mrpt::obs::CObservationBeaconRanges observation,
float  sigmaRanges,
const mrpt::poses::CPose2D oldPose,
float  robot_z = 0,
bool  autoCheckAngleRanges = true 
)

The parameters used in the generation of random samples:

Parameters
beaconsMapThe map containing the N beacons (indexed by their "beacon ID"s). Only the mean 3D position of the beacons is used, the covariance is ignored.
observationAn observation with, at least ONE range measurement.
sigmaRangesThe standard deviation of the "range measurement noise".
robot_zThe height of the robot on the floor (default=0). Note that the beacon sensor on the robot may be at a different height, according to data within the observation object.
autoCheckAngleRangesWhether to make a simple check for potential good angles from the beacons to generate samples (disable to speed-up the preparation vs. making slower the drawn). This method fills out the member "m_dataPerBeacon".
Returns
true if at least ONE beacon has been successfully loaded, false otherwise. In this case do not call "rejectionSampling" or an exception will be launch, since there is no information to generate samples.

Definition at line 104 of file CRejectionSamplingRangeOnlyLocalization.cpp.

References ASSERT_, mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon::beaconPosition, mrpt::utils::CDynamicGrid< T >::cellByPos(), DEG2RAD, mrpt::utils::CDynamicGrid< T >::fill(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID(), mrpt::maps::CLandmarksMap::landmarks, m_dataPerBeacon, m_drawIndex, m_oldPose, M_PIf, m_sigmaRanges, m_z_robot, mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon::maxAngle, min, mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon::minAngle, MRPT_END, MRPT_START, mrpt::maps::CLandmark::pose_mean, R, mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon::radiusAtRobotPlane, mrpt::obs::CObservationBeaconRanges::sensedData, mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon::sensorOnRobot, mrpt::math::square(), mrpt::math::TPoint2D::x, mrpt::math::TPoint3D::x, mrpt::math::TPoint2D::y, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Member Data Documentation

std::deque<TDataPerBeacon> mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_dataPerBeacon
protected

Data for each beacon observation with a correspondence with the map.

Definition at line 96 of file CRejectionSamplingRangeOnlyLocalization.h.

Referenced by RS_drawFromProposal(), RS_observationLikelihood(), and setParams().

size_t mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_drawIndex
protected

The index in "m_dataPerBeacon" used to draw samples (the rest will be used to evaluate the likelihood)

Definition at line 79 of file CRejectionSamplingRangeOnlyLocalization.h.

Referenced by RS_drawFromProposal(), RS_observationLikelihood(), and setParams().

mrpt::poses::CPose2D mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_oldPose
protected

Definition at line 75 of file CRejectionSamplingRangeOnlyLocalization.h.

Referenced by RS_drawFromProposal(), and setParams().

float mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_sigmaRanges
protected
float mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_z_robot
protected

Z coordinate of the robot.

Definition at line 72 of file CRejectionSamplingRangeOnlyLocalization.h.

Referenced by setParams().




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