mrpt::slam::CMonteCarloLocalization2D Class Reference

Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), 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

CMonteCarloLocalization3D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 34 of file CMonteCarloLocalization2D.h.

#include <mrpt/slam/CMonteCarloLocalization2D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization2D:

Public Types
enum	{ is_3D_val = 0 }
enum	{ is_PDF_val = 1 }
typedef CPose2D	type_value
	The type of the state the PDF represents. More...
typedef CProbabilityDensityFunction< CPose2D, STATE_LEN >	self_t
typedef CPose2D	CParticleDataContent
	This is the type inside the corresponding CParticleData class. More...
typedef CProbabilityParticle< CPose2D >	CParticleData
	Use this to refer to each element in the m_particles array. More...
typedef std::deque< CParticleData >	CParticleList
	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
	CMonteCarloLocalization2D (size_t M=1)
	Constructor. More...
virtual	~CMonteCarloLocalization2D ()
	Destructor. More...
void	resetUniformFreeSpace (mrpt::maps::COccupancyGridMap2D *theMap, const double freeCellsThreshold=0.7, const int particlesCount=-1, const double x_min=-1e10f, const double x_max=1e10f, const double y_min=-1e10f, const double y_max=1e10f, const double phi_min=-M_PI, const double phi_max=M_PI)
	Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map. 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...
void *	operator new (size_t size)
void *	operator new (size_t size, const std::nothrow_t &) throw ()
void *	operator 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	clear ()
	Free all the memory associated to m_particles, and set the number of parts = 0. More...
void	copyFrom (const CPosePDF &o) MRPT_OVERRIDE
	Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...
void	resetDeterministic (const CPose2D &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	resetUniform (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &phi_min=-M_PI, const double &phi_max=M_PI, const int &particlesCount=-1)
	Reset the PDF to an uniformly distributed one, inside of the defined cube. More...
void	resetAroundSetOfPoses (const std::vector< mrpt::math::TPose2D > &list_poses, const size_t num_particles_per_pose, const double spread_x, const double spread_y, const double spread_phi_rad)
	Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose. More...
void	getMean (CPose2D &mean_pose) const MRPT_OVERRIDE
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
virtual void	getMean (CPose2D &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
void	getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...
virtual void	getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const=0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
CPose2D	getParticlePose (size_t 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. 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 (CPose2D &outPart) const MRPT_OVERRIDE
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...
virtual void	drawSingleSample (CPose2D &outPart) const=0
	Draws a single sample from the distribution. More...
void	operator+= (const CPose2D &Ap)
	Appends (pose-composition) a given pose "p" to each particle. More...
void	append (CPosePDFParticles &o)
	Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. More...
void	inverse (CPosePDF &o) const MRPT_OVERRIDE
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
CPose2D	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...
void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
	Bayesian fusion. More...
double	evaluatePDF_parzen (const double &x, const double &y, const double &phi, const double &stdXY, const double &stdPhi) const
	Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window. More...
void	saveParzenPDFToTextFile (const char *fileName, const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &phi, const double &stepSizeXY, const double &stdXY, const double &stdPhi) const
	Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window. 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 mxArray *	writeToMatlab () 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...
CObject *	clone () const
	Cloning interface for smart pointers. More...
void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
CPose2D	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...
virtual void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. 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 CPosePDFParticles &	derived () const
	CRTP helper method. More...
CPosePDFParticles &	derived ()
	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...
RTTI classes and functions
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...
Virtual methods that the PF_implementations assume exist.
virtual void	PF_SLAM_implementation_custom_update_particle_with_new_pose (mrpt::poses::CPose2D *particleData, const mrpt::math::TPose3D &newPose) const=0
virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose2D >::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::CPose2D >::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 void *	operator new (size_t size, void *ptr)
static void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
	This static method computes the pose composition Jacobians, with these formulas: More...
static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)
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	classCPosePDF
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::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
typedef CPosePDFParticlesPtr	Ptr
typedef CPosePDFParticlesPtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CPosePDFParticles
static mrpt::utils::TRuntimeClassId	classCPosePDFParticles
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
static mrpt::utils::CObject *	CreateObject ()
static CPosePDFParticlesPtr	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::TPose3D >	m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
std::vector< bool >	m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

Member Typedef Documentation

ConstPtr

typedef CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::ConstPtr

inherited

Definition at line 39 of file CPosePDFParticles.h.

CParticleData

typedef CProbabilityParticle<CPose2D > mrpt::bayes::CParticleFilterData< CPose2D >::CParticleData

inherited

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

Definition at line 174 of file CParticleFilterData.h.

CParticleDataContent

typedef CPose2D mrpt::bayes::CParticleFilterData< CPose2D >::CParticleDataContent

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 173 of file CParticleFilterData.h.

CParticleList

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList

inherited

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

Definition at line 175 of file CParticleFilterData.h.

Ptr

typedef CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::Ptr

inherited

A typedef for the associated smart pointer

Definition at line 39 of file CPosePDFParticles.h.

self_t

typedef CProbabilityDensityFunction<CPose2D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t

inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

TParticleProbabilityEvaluator

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

index	This is the index of the particle its probability is being computed.
action	The value of this is the parameter passed to "prepareFastDrawSample"
observation	The 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.

type_value

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 91 of file CPosePDF.h.

anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 93 of file CPosePDF.h.

Constructor & Destructor Documentation

CMonteCarloLocalization2D()

CMonteCarloLocalization2D::CMonteCarloLocalization2D

(

size_t

M = 1

)

Constructor.

Parameters

M	The number of m_particles.

Definition at line 72 of file CMonteCarloLocalization2D.cpp.

~CMonteCarloLocalization2D()

CMonteCarloLocalization2D::~CMonteCarloLocalization2D ( )

virtual

Destructor.

Definition at line 82 of file CMonteCarloLocalization2D.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::_GetBaseClass ( )

staticprotectedinherited

append()

void CPosePDFParticles::append ( CPosePDFParticles &  o )

inherited

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

Definition at line 376 of file CPosePDFParticles.cpp.

References mrpt::bayes::CProbabilityParticle< T >::d, mrpt::bayes::CProbabilityParticle< T >::log_w, and mrpt::bayes::CParticleFilterData< T >::m_particles.

bayesianFusion()

void CPosePDFParticles::bayesianFusion ( const CPosePDF &  p1, const CPosePDF &  p2, const double &  minMahalanobisDistToDrop = 0  )

virtualinherited

Bayesian fusion.

Implements mrpt::poses::CPosePDF.

Definition at line 432 of file CPosePDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

changeCoordinatesReference()

void CPosePDFParticles::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< CPose2D, 3 >.

Definition at line 334 of file CPosePDFParticles.cpp.

clear()

void CPosePDFParticles::clear ( )

inherited

Free all the memory associated to m_particles, and set the number of parts = 0.

Definition at line 95 of file CPosePDFParticles.cpp.

Referenced by resetUniformFreeSpace().

clearParticles()

void mrpt::bayes::CParticleFilterData< CPose2D >::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.

clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

computeResampling()

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_count

The 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(), mrpt::math::maximum(), MRPT_END, MRPT_START, R, mrpt::random::randomGenerator, and THROW_EXCEPTION.

copyFrom()

void CPosePDFParticles::copyFrom ( const CPosePDF &  o )

virtualinherited

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

Implements mrpt::poses::CPosePDF.

Definition at line 49 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPosePDFGaussian::cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::random::randomGenerator, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFParticles::inverse().

Create()

static CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::Create ( )

staticinherited

CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPosePDFParticles::CreateObject ( )

staticinherited

defaultEvaluator()

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_UNUSED_PARAM.

derived() [1/2]

const CPosePDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

derived() [2/2]

CPosePDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 36 of file CParticleFilterData.h.

drawManySamples()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawManySamples ( size_t  N, std::vector< mrpt::math::CVectorDouble > &  outSamples  ) const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Reimplemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, and mrpt::poses::CPosePDFGrid.

Definition at line 125 of file CProbabilityDensityFunction.h.

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

drawSingleSample() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

drawSingleSample() [2/2]

void CPosePDFParticles::drawSingleSample ( CPose2D &  outPart ) const

inherited

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

Definition at line 345 of file CPosePDFParticles.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), and mrpt::random::randomGenerator.

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_2D().

duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFParticles::duplicate ( ) const

virtualinherited

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

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

ESS()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::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.

evaluatePDF_parzen()

double CPosePDFParticles::evaluatePDF_parzen ( const double &  x, const double &  y, const double &  phi, const double &  stdXY, const double &  stdPhi  ) const

inherited

Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window.

See also

saveParzenPDFToTextFile

Definition at line 442 of file CPosePDFParticles.cpp.

References mrpt::math::normalPDF(), and mrpt::math::wrapToPi().

fastDrawSample()

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().

getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::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()

Definition at line 101 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 110 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov, CPose2D &  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

getCovarianceAndMean() [2/2]

void CPosePDFParticles::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 &  cov, CPose2D &  mean_point  ) const

inherited

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

See also

getMean

Definition at line 129 of file CPosePDFParticles.cpp.

References mrpt::math::cov(), M_2PI, mean(), mrpt::math::square(), and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGrid::getCovarianceAndMean(), and run_test_pf_localization().

getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble &  cov, CPose2D &  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.

References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().

getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

getLastPose()

TPose3D CMonteCarloLocalization2D::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::CPose2D, CMonteCarloLocalization2D >.

Definition at line 89 of file CMonteCarloLocalization2D.cpp.

References ASSERTDEB_, mrpt::bayes::CParticleFilterData< CPose2D >::m_particles, and THROW_EXCEPTION.

getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D &  mean_point ) const

pure virtualinherited

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

See also

getCovarianceAndMean, getInformationMatrix

getMean() [2/2]

void CPosePDFParticles::getMean ( CPose2D &  mean_pose ) const

inherited

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

See also

getCovariance

Definition at line 105 of file CPosePDFParticles.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

getMeanVal()

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

getMostLikelyParticle()

CPose2D CPosePDFParticles::getMostLikelyParticle ( ) const

inherited

Returns the particle with the highest weight.

Definition at line 411 of file CPosePDFParticles.cpp.

getParticlePose()

CPose2D CPosePDFParticles::getParticlePose ( size_t  i ) const

inherited

Returns the pose of the i'th particle.

Definition at line 326 of file CPosePDFParticles.cpp.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::GetRuntimeClass ( ) const

virtualinherited

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

getW()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::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.

getWeights()

void mrpt::bayes::CParticleFilterData< CPose2D >::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.

inverse()

void CPosePDFParticles::inverse ( CPosePDF &  o ) const

virtualinherited

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPosePDF.

Definition at line 392 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

is_3D()

static bool mrpt::poses::CPosePDF::is_3D ( )

inlinestaticinherited

Definition at line 92 of file CPosePDF.h.

is_PDF()

static bool mrpt::poses::CPosePDF::is_PDF ( )

inlinestaticinherited

Definition at line 94 of file CPosePDF.h.

isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition ( const CPose2D &  x, const CPose2D &  u, mrpt::math::CMatrixDouble33 &  df_dx, mrpt::math::CMatrixDouble33 &  df_du, const bool  compute_df_dx = true, const bool  compute_df_du = true  )

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]

df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

Definition at line 35 of file CPosePDF.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), mrpt::poses::CPosePDFGaussianInf::operator+=(), and mrpt::poses::CPosePDFGaussian::operator+=().

jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian &  x, const CPosePDFGaussian &  u, mrpt::math::CMatrixDouble33 &  df_dx, mrpt::math::CMatrixDouble33 &  df_du  )

staticinherited

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 23 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

log2linearWeights()

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.

normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::normalizeWeights ( double *  out_max_log_w = NULL )

inlinevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters

out_max_log_w

If 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.

operator delete() [1/3]

void mrpt::poses::CPosePDFParticles::operator delete ( void *  ptr ) throw ( )

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator delete() [2/3]

void mrpt::poses::CPosePDFParticles::operator delete ( void *  memory, void *  ptr  ) throw ( )

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator delete() [3/3]

void mrpt::poses::CPosePDFParticles::operator delete ( void *  ptr, const std::nothrow_t &    ) throw ( )

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator delete[]()

void mrpt::poses::CPosePDFParticles::operator delete[] ( void *  ptr ) throw ( )

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator new() [1/3]

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

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator new() [2/3]

void* mrpt::poses::CPosePDFParticles::operator new ( size_t  size )

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator new() [3/3]

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

inlinestaticinherited

Definition at line 39 of file CPosePDFParticles.h.

operator new[]()

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

inlineinherited

Definition at line 39 of file CPosePDFParticles.h.

operator+=()

void CPosePDFParticles::operator+= ( const CPose2D &  Ap )

inherited

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

Definition at line 367 of file CPosePDFParticles.cpp.

particlesCount()

size_t mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::particlesCount ( ) const

inlinevirtualinherited

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 50 of file CParticleFilterData.h.

Referenced by resetUniformFreeSpace().

performResampling()

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_count

The 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.

performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::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.

PF_SLAM_computeObservationLikelihoodForParticle()

double CMonteCarloLocalization2D::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

Evaluate the observation likelihood for one particle at a given location.

Implements mrpt::slam::PF_implementation< mrpt::poses::CPose2D, CMonteCarloLocalization2D >.

Definition at line 174 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CSensoryFrame::end(), mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_UNUSED_PARAM, and options.

PF_SLAM_implementation_custom_update_particle_with_new_pose() [1/2]

void CMonteCarloLocalization2D::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CParticleDataContent *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

Definition at line 197 of file CMonteCarloLocalization2D.cpp.

PF_SLAM_implementation_custom_update_particle_with_new_pose() [2/2]

virtual void mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::PF_SLAM_implementation_custom_update_particle_with_new_pose ( mrpt::poses::CPose2D *  particleData, const mrpt::math::TPose3D &  newPose  ) const

pure virtualinherited

PF_SLAM_implementation_doWeHaveValidObservations()

virtual bool mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::PF_SLAM_implementation_doWeHaveValidObservations ( const typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose2D >::CParticleList &  particles, const mrpt::obs::CSensoryFrame *  sf  ) const

inlinevirtualinherited

Definition at line 230 of file PF_implementations_data.h.

PF_SLAM_implementation_gatherActionsCheckBothActObs()

bool mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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.

Definition at line 44 of file PF_implementations.h.

PF_SLAM_implementation_pfAuxiliaryPFOptimal()

void mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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.

Definition at line 130 of file PF_implementations.h.

PF_SLAM_implementation_pfAuxiliaryPFStandard()

void mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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.

Definition at line 321 of file PF_implementations.h.

PF_SLAM_implementation_pfStandardProposal()

void mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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.

Definition at line 148 of file PF_implementations.h.

PF_SLAM_implementation_replaceByNewParticleSet() [1/2]

void CMonteCarloLocalization2D::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 205 of file CMonteCarloLocalization2D.cpp.

References ASSERT_EQUAL_, and MRPT_UNUSED_PARAM.

PF_SLAM_implementation_replaceByNewParticleSet() [2/2]

virtual void mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::PF_SLAM_implementation_replaceByNewParticleSet ( typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose2D >::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.

PF_SLAM_implementation_skipRobotMovement()

virtual bool mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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.

PF_SLAM_particlesEvaluator_AuxPFOptimal()

double mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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

Definition at line 336 of file PF_implementations.h.

PF_SLAM_particlesEvaluator_AuxPFStandard()

double mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::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

action	MUST be a "const CPose3D*"
observation	MUST be a "const CSensoryFrame*"
action	MUST be a "const mrpt::poses::CPose3D*"
observation	MUST be a "const CSensoryFrame*"

Definition at line 412 of file PF_implementations.h.

prediction_and_update()

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.

prediction_and_update_pfAuxiliaryPFOptimal()

void CMonteCarloLocalization2D::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

Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 151 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< CPose2D >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

prediction_and_update_pfAuxiliaryPFStandard()

void CMonteCarloLocalization2D::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

Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 126 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< CPose2D >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

prediction_and_update_pfOptimalProposal()

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.

prediction_and_update_pfStandardProposal()

void CMonteCarloLocalization2D::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

action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 102 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< CPose2D >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

prepareFastDrawSample()

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_, 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().

readFromStream()

void CPosePDFParticles::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

in	The input binary stream where the object data must read from.
version	The 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::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 197 of file CPosePDFParticles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CPose2D >::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.

resetAroundSetOfPoses()

void CPosePDFParticles::resetAroundSetOfPoses ( const std::vector< mrpt::math::TPose2D > &  list_poses, const size_t  num_particles_per_pose, const double  spread_x, const double  spread_y, const double  spread_phi_rad  )

inherited

Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose.

Parameters

[in]	list_poses	The poses (x,y,phi) around which particles will be spread. Must contains at least one pose.
[in]	num_particles_per_pose	Number of particles to be spread around each of the "spots" in list_poses. Must be >=1.

Particles will be spread uniformly in a box of width spread_{x,y,phi_rad} in each of the three coordinates (meters, radians), so it can be understood as the "initial uncertainty".

See also

resetDeterministic, resetUniformFreeSpace

Definition at line 268 of file CPosePDFParticles.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::utils::clear(), mrpt::random::CRandomGenerator::drawUniform(), MRPT_END, MRPT_START, and mrpt::random::randomGenerator.

resetDeterministic()

void CPosePDFParticles::resetDeterministic ( const CPose2D &  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

location	The location to set all the m_particles.
particlesCount	If this is set to 0 the number of m_particles remains unchanged.

See also

resetUniform, resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 216 of file CPosePDFParticles.cpp.

References mrpt::utils::clear().

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), and mrpt::poses::CPosePDFGrid::getCovarianceAndMean().

resetUniform()

void CPosePDFParticles::resetUniform ( const double &  x_min, const double &  x_max, const double &  y_min, const double &  y_max, const double &  phi_min = -M_PI, const double &  phi_max = M_PI, const int &  particlesCount = -1  )

inherited

Reset the PDF to an uniformly distributed one, inside of the defined cube.

If particlesCount is set to -1 the number of m_particles remains unchanged.

See also

resetDeterministic, resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 237 of file CPosePDFParticles.cpp.

References mrpt::utils::clear(), mrpt::random::CRandomGenerator::drawUniform(), MRPT_END, MRPT_START, and mrpt::random::randomGenerator.

Referenced by run_test_pf_localization().

resetUniformFreeSpace()

void CMonteCarloLocalization2D::resetUniformFreeSpace	(	mrpt::maps::COccupancyGridMap2D *	theMap,
		const double	freeCellsThreshold = 0.7,
		const int	particlesCount = -1,
		const double	x_min = -1e10f,
		const double	x_max = 1e10f,
		const double	y_min = -1e10f,
		const double	y_max = 1e10f,
		const double	phi_min = -M_PI,
		const double	phi_max = M_PI
	)

Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map.

Orientation is randomly generated in the whole 2*PI range.

Parameters

theMap	The occupancy grid map
freeCellsThreshold	The minimum free-probability to consider a cell as empty (default is 0.7)
particlesCount	If set to -1 the number of m_particles remains unchanged.
x_min	The limits of the area to look for free cells.
x_max	The limits of the area to look for free cells.
y_min	The limits of the area to look for free cells.
y_max	The limits of the area to look for free cells.
phi_min	The limits of the area to look for free cells.
phi_max	The limits of the area to look for free cells.

See also

resetDeterm32inistic

Exceptions

std::exception

On any error (no free cell found in map, map=NULL, etc...)

Definition at line 231 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::poses::CPosePDFParticles::clear(), mrpt::random::CRandomGenerator::drawUniform(), mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::getYMin(), mrpt::maps::COccupancyGridMap2D::idx2x(), mrpt::maps::COccupancyGridMap2D::idx2y(), mrpt::bayes::CParticleFilterData< CPose2D >::m_particles, min, MRPT_END, MRPT_START, mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles, mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::particlesCount(), mrpt::random::randomGenerator, mrpt::utils::round(), mrpt::maps::COccupancyGridMap2D::x2idx(), and mrpt::maps::COccupancyGridMap2D::y2idx().

Referenced by run_test_pf_localization().

saveParzenPDFToTextFile()

void CPosePDFParticles::saveParzenPDFToTextFile ( const char *  fileName, const double &  x_min, const double &  x_max, const double &  y_min, const double &  y_max, const double &  phi, const double &  stepSizeXY, const double &  stdXY, const double &  stdPhi  ) const

inherited

Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window.

See also

evaluatePDF_parzen

Definition at line 466 of file CPosePDFParticles.cpp.

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

saveToTextFile()

void CPosePDFParticles::saveToTextFile ( const std::string &  file ) const

virtualinherited

Save PDF's m_particles to a text file.

In each line it will go: "x y phi weight"

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 307 of file CPosePDFParticles.cpp.

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

setW()

void mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::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()

size_t mrpt::poses::CPosePDFParticles::size ( ) const

inlineinherited

Get the m_particles count (equivalent to "particlesCount")

Definition at line 112 of file CPosePDFParticles.h.

writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CPose2D >::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.

writeToMatlab()

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.

writeToStream()

void CPosePDFParticles::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

out	The output binary stream where object must be dumped.
getVersion	If 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::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 184 of file CPosePDFParticles.cpp.

References version.

Member Data Documentation

_init_CPosePDFParticles

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFParticles::_init_CPosePDFParticles

staticprotectedinherited

Definition at line 39 of file CPosePDFParticles.h.

classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

classCPosePDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF

staticinherited

Definition at line 41 of file CPosePDF.h.

classCPosePDFParticles

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFParticles::classCPosePDFParticles

staticinherited

Definition at line 39 of file CPosePDFParticles.h.

classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::classinfo

staticinherited

Definition at line 39 of file CPosePDFParticles.h.

m_accumRobotMovement2D

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_accumRobotMovement2D

protectedinherited

Definition at line 55 of file PF_implementations_data.h.

m_accumRobotMovement2DIsValid

bool mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_accumRobotMovement2DIsValid

protectedinherited

Definition at line 56 of file PF_implementations_data.h.

m_accumRobotMovement3D

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_accumRobotMovement3D

protectedinherited

Definition at line 57 of file PF_implementations_data.h.

m_accumRobotMovement3DIsValid

bool mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_accumRobotMovement3DIsValid

protectedinherited

Definition at line 58 of file PF_implementations_data.h.

m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary

mutableprotectedinherited

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

Definition at line 233 of file CParticleFilterCapable.h.

m_movementDrawer

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_movementDrawer

protectedinherited

Used in al PF implementations.

See also

PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 60 of file PF_implementations_data.h.

m_particles

CParticleList mrpt::bayes::CParticleFilterData< CPose2D >::m_particles

inherited

The array of particles.

Definition at line 177 of file CParticleFilterData.h.

Referenced by getLastPose(), prediction_and_update_pfAuxiliaryPFOptimal(), prediction_and_update_pfAuxiliaryPFStandard(), prediction_and_update_pfStandardProposal(), and resetUniformFreeSpace().

m_pfAuxiliaryPFOptimal_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 61 of file PF_implementations_data.h.

m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 64 of file PF_implementations_data.h.

m_pfAuxiliaryPFOptimal_maxLikelihood

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 63 of file PF_implementations_data.h.

m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

std::vector<bool> mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

protectedinherited

Definition at line 65 of file PF_implementations_data.h.

m_pfAuxiliaryPFStandard_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::poses::CPose2D , CMonteCarloLocalization2D >::m_pfAuxiliaryPFStandard_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 62 of file PF_implementations_data.h.

options

TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization2D::options

MCL parameters.

Definition at line 39 of file CMonteCarloLocalization2D.h.

Referenced by PF_SLAM_computeObservationLikelihoodForParticle(), prediction_and_update_pfAuxiliaryPFOptimal(), prediction_and_update_pfAuxiliaryPFStandard(), prediction_and_update_pfStandardProposal(), and run_test_pf_localization().

state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.