Detailed Description

template<class PARTICLE_TYPE, class MYSELF>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >

A set of common data shared by PF implementations for both SLAM and localization.

Definition at line 41 of file PF_implementations_data.h.

#include <mrpt/slam/PF_implementations_data.h>

Inheritance diagram for mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >:

Public Member Functions
	PF_implementation ()

template<class BINTYPE >
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.
virtual mrpt::math::TPose3D	getLastPose (const size_t i, bool &pose_is_valid) const =0
	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...

virtual void	PF_SLAM_implementation_custom_update_particle_with_new_pose (PARTICLE_TYPE *particleData, const mrpt::math::TPose3D &newPose) const =0

virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE >::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< PARTICLE_TYPE >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const

virtual bool	PF_SLAM_implementation_skipRobotMovement () const
	Make a specialization if needed, eg. More...

virtual 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 =0
	Evaluate the observation likelihood for one particle at a given location. More...

Protected Member Functions
The generic PF implementations for localization & SLAM.
template<class BINTYPE >
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...

template<class BINTYPE >
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...

template<class BINTYPE >
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...

Private Member Functions
template<class BINTYPE >
void	PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options, const bool USE_OPTIMAL_SAMPLING)
	The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING. More...

template<class BINTYPE >
void	PF_SLAM_aux_perform_one_rejection_sampling_step (const bool USE_OPTIMAL_SAMPLING, const bool doResample, const double maxMeanLik, size_t k, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, mrpt::poses::CPose3D &out_newPose, double &out_newParticleLogWeight)

Data members and methods used by generic PF implementations
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

template<class BINTYPE >
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...

template<class BINTYPE >
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)

Constructor & Destructor Documentation

◆ PF_implementation()

template<class PARTICLE_TYPE, class MYSELF>

mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_implementation ( )

inline

Definition at line 45 of file PF_implementations_data.h.

Member Function Documentation

◆ getLastPose()

template<class PARTICLE_TYPE, class MYSELF>

virtual mrpt::math::TPose3D mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::getLastPose	(	const size_t	i,
		bool &	pose_is_valid
	)		const

pure 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.

Implemented in mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ PF_SLAM_aux_perform_one_rejection_sampling_step()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_aux_perform_one_rejection_sampling_step	(	const bool	USE_OPTIMAL_SAMPLING,
		const bool	doResample,
		const double	maxMeanLik,
		size_t	k,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		mrpt::poses::CPose3D &	out_newPose,
		double &	out_newParticleLogWeight
	)

private

Definition at line 844 of file PF_implementations.h.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

template<class PARTICLE_TYPE, class MYSELF>

virtual double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::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

pure virtual

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

Implemented in mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

template<class PARTICLE_TYPE, class MYSELF>

virtual void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	PARTICLE_TYPE *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

pure virtual

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

◆ PF_SLAM_implementation_doWeHaveValidObservations()

template<class PARTICLE_TYPE, class MYSELF>

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

inlinevirtual

Definition at line 230 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::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
	)

protected

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()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::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
	)

protected

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_pfAuxiliaryPFStandardAndOptimal()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options,
		const bool	USE_OPTIMAL_SAMPLING
	)

private

The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING.

Definition at line 505 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfStandardProposal()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::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
	)

protected

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()

template<class PARTICLE_TYPE, class MYSELF>

virtual void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_replaceByNewParticleSet	(	typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE >::CParticleList &	old_particles,
		const std::vector< mrpt::math::TPose3D > &	newParticles,
		const std::vector< double > &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

inlinevirtual

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()

template<class PARTICLE_TYPE, class MYSELF>

virtual bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_skipRobotMovement ( ) const

inlinevirtual

Make a specialization if needed, eg.

in the first step in SLAM.

Reimplemented in mrpt::maps::CMultiMetricMapPDF.

Definition at line 239 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::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
	)

staticprotected

Definition at line 336 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::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
	)

staticprotected

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.

Member Data Documentation

◆ m_accumRobotMovement2D

template<class PARTICLE_TYPE, class MYSELF>

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_accumRobotMovement2D

protected

Definition at line 55 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

template<class PARTICLE_TYPE, class MYSELF>

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_accumRobotMovement2DIsValid

protected

Definition at line 56 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

template<class PARTICLE_TYPE, class MYSELF>

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_accumRobotMovement3D

protected

Definition at line 57 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

template<class PARTICLE_TYPE, class MYSELF>

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_accumRobotMovement3DIsValid

protected

Definition at line 58 of file PF_implementations_data.h.

◆ m_movementDrawer

template<class PARTICLE_TYPE, class MYSELF>

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_movementDrawer

protected

Used in al PF implementations.

See also: PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 60 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

template<class PARTICLE_TYPE, class MYSELF>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 61 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

template<class PARTICLE_TYPE, class MYSELF>

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 64 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

template<class PARTICLE_TYPE, class MYSELF>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

template<class PARTICLE_TYPE, class MYSELF>

std::vector<bool> mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

protected

Definition at line 65 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class MYSELF>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::m_pfAuxiliaryPFStandard_estimatedProb

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 62 of file PF_implementations_data.h.

Detailed Description

template<class PARTICLE_TYPE, class MYSELF> class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >

Public Member Functions

Protected Member Functions

Private Member Functions

Data members and methods used by generic PF implementations

Constructor & Destructor Documentation

◆ PF_implementation()

Member Function Documentation

◆ getLastPose()

◆ PF_SLAM_aux_perform_one_rejection_sampling_step()

◆ PF_SLAM_computeObservationLikelihoodForParticle()

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

◆ PF_SLAM_implementation_doWeHaveValidObservations()

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

◆ PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()

◆ PF_SLAM_implementation_pfStandardProposal()

◆ PF_SLAM_implementation_replaceByNewParticleSet()

◆ PF_SLAM_implementation_skipRobotMovement()

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

Member Data Documentation

◆ m_accumRobotMovement2D

◆ m_accumRobotMovement2DIsValid

◆ m_accumRobotMovement3D

◆ m_accumRobotMovement3DIsValid

◆ m_movementDrawer

◆ m_pfAuxiliaryPFOptimal_estimatedProb

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class MYSELF>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >