Detailed Description

The configuration of a particle filter.

Definition at line 80 of file CParticleFilter.h.

#include <mrpt/bayes/CParticleFilter.h>

Inheritance diagram for mrpt::bayes::CParticleFilter::TParticleFilterOptions:

Public Member Functions
	TParticleFilterOptions ()
	Initilization of default parameters. More...

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Public Attributes
bool	adaptiveSampleSize
	A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false). More...

double	BETA
	The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5) More...

unsigned int	sampleSize
	The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1) More...

unsigned int	pfAuxFilterOptimal_MaximumSearchSamples
	In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100) More...

double	powFactor
	An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects). More...

TParticleFilterAlgorithm	PF_algorithm
	The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities. More...

TParticleResamplingAlgorithm	resamplingMethod
	The resampling algorithm to use (default=prMultinomial). More...

double	max_loglikelihood_dyn_range
	Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded. More...

bool	pfAuxFilterStandard_FirstStageWeightsMonteCarlo
	Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step. More...

bool	pfAuxFilterOptimal_MLE
	(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage. More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

◆ TParticleFilterOptions()

CParticleFilter::TParticleFilterOptions::TParticleFilterOptions ( )

Initilization of default parameters.

Definition at line 106 of file CParticleFilter.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 47 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

◆ dumpToTextStream()

void CParticleFilter::TParticleFilterOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const

virtual

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 123 of file CParticleFilter.cpp.

References mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal, mrpt::bayes::CParticleFilter::pfAuxiliaryPFStandard, mrpt::bayes::CParticleFilter::pfOptimalProposal, mrpt::bayes::CParticleFilter::pfStandardProposal, mrpt::utils::CStream::printf(), mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::prResidual, mrpt::bayes::CParticleFilter::prStratified, and mrpt::bayes::CParticleFilter::prSystematic.

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ loadFromConfigFile()

void CParticleFilter::TParticleFilterOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 164 of file CParticleFilter.cpp.

References ASSERT_, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, MRPT_START, and mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal.

Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions(), and run_test_pf_localization().

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 31 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

◆ adaptiveSampleSize

bool mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize

A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false).

Definition at line 87 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilter::executeOn(), mrpt::bayes::CParticleFilterCapable::fastDrawSample(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfStandardProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample().

◆ BETA

double mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA

The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5)

Definition at line 88 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilter::executeOn(), and mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

◆ max_loglikelihood_dyn_range

double mrpt::bayes::CParticleFilter::TParticleFilterOptions::max_loglikelihood_dyn_range

Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded.

This is done to assure that the rejection sampling doesn't get stuck in an infinite loop trying to get an acceptable sample. Default = 15 (in logarithmic likelihood)

Definition at line 102 of file CParticleFilter.h.

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_aux_perform_one_rejection_sampling_step().

◆ PF_algorithm

TParticleFilterAlgorithm mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm

The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities.

Definition at line 95 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilter::executeOn(), and mrpt::bayes::CParticleFilterCapable::prediction_and_update().

◆ pfAuxFilterOptimal_MaximumSearchSamples

unsigned int mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples

In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100)

Definition at line 93 of file CParticleFilter.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_particlesEvaluator_AuxPFStandard(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ pfAuxFilterOptimal_MLE

bool mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE

(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage.

Definition at line 111 of file CParticleFilter.h.

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_particlesEvaluator_AuxPFOptimal(), and mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_particlesEvaluator_AuxPFStandard().

◆ pfAuxFilterStandard_FirstStageWeightsMonteCarlo

bool mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterStandard_FirstStageWeightsMonteCarlo

Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step.

If true, these weights will be estimated as described in the papers for the "pfAuxiliaryPFOptimal" method, i.e. through a monte carlo simulation. In that case, "pfAuxFilterOptimal_MaximumSearchSamples" is the number of MC samples used.

Definition at line 109 of file CParticleFilter.h.

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_particlesEvaluator_AuxPFStandard().

◆ powFactor

double mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor

An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects).

Definition at line 94 of file CParticleFilter.h.

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfStandardProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ resamplingMethod

TParticleResamplingAlgorithm mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod

The resampling algorithm to use (default=prMultinomial).

Definition at line 96 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilterCapable::fastDrawSample(), mrpt::bayes::CParticleFilterCapable::performResampling(), and mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample().

◆ sampleSize

unsigned int mrpt::bayes::CParticleFilter::TParticleFilterOptions::sampleSize

The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1)

Definition at line 89 of file CParticleFilter.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TParticleFilterOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ adaptiveSampleSize

◆ BETA

◆ max_loglikelihood_dyn_range

◆ PF_algorithm

◆ pfAuxFilterOptimal_MaximumSearchSamples

◆ pfAuxFilterOptimal_MLE

◆ pfAuxFilterStandard_FirstStageWeightsMonteCarlo

◆ powFactor

◆ resamplingMethod

◆ sampleSize