CMonteCarloLocalization2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/obs_frwds.h>
#include <mrpt/poses/CPosePDFParticles.h>
#include <mrpt/slam/PF_implementations_data.h>
#include <mrpt/slam/TMonteCarloLocalizationParams.h>

namespace mrpt
{
namespace maps
{
class COccupancyGridMap2D;
}

/** \ingroup mrpt_slam_grp */
namespace slam
{
/** 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.
 *
 * \sa CMonteCarloLocalization3D, CPose2D, CPosePDF, CPoseGaussianPDF,
 * CParticleFilterCapable
 * \ingroup mrpt_slam_grp
 */
class CMonteCarloLocalization2D
    : public mrpt::poses::CPosePDFParticles,
      public PF_implementation<
          mrpt::math::TPose2D, CMonteCarloLocalization2D,
          mrpt::poses::CPosePDFParticles::PARTICLE_STORAGE>
{
   public:
    /** MCL parameters */
    TMonteCarloLocalizationParams options;

    /** Constructor
     * \param M The number of m_particles.
     */
    CMonteCarloLocalization2D(size_t M = 1);

    /** Destructor */
    ~CMonteCarloLocalization2D() override;

    /** 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.
     * \param theMap The occupancy grid map
     * \param freeCellsThreshold The minimum free-probability to consider a
     * cell as empty (default is 0.7)
     * \param particlesCount If set to -1 the number of m_particles remains
     * unchanged.
     * \param x_min The limits of the area to look for free cells.
     * \param x_max The limits of the area to look for free cells.
     * \param y_min The limits of the area to look for free cells.
     * \param y_max The limits of the area to look for free cells.
     * \param phi_min The limits of the area to look for free cells.
     * \param phi_max The limits of the area to look for free cells.
     *  \sa resetDeterm32inistic
     * \exception std::exception On any error (no free cell found in map,
     * map=nullptr, etc...)
     */
    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);

    /** 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:
     *
     *   \param action This is a pointer to CActionCollection, containing the
     * pose change the robot has been commanded.
     *   \param observation This must be a pointer to a CSensoryFrame object,
     * with robot sensed observations.
     *
     * \sa options
     */
    void prediction_and_update_pfStandardProposal(
        const mrpt::obs::CActionCollection* action,
        const mrpt::obs::CSensoryFrame* observation,
        const bayes::CParticleFilter::TParticleFilterOptions& PF_options)
        override;

    /** 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:
     *
     *   \param Action This is a pointer to CActionCollection, containing the
     * pose change the robot has been commanded.
     *   \param observation This must be a pointer to a CSensoryFrame object,
     * with robot sensed observations.
     *
     * \sa options
     */
    void prediction_and_update_pfAuxiliaryPFStandard(
        const mrpt::obs::CActionCollection* action,
        const mrpt::obs::CSensoryFrame* observation,
        const bayes::CParticleFilter::TParticleFilterOptions& PF_options)
        override;

    /** 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:
     *
     *   \param Action This is a pointer to CActionCollection, containing the
     * pose change the robot has been commanded.
     *   \param observation This must be a pointer to a CSensoryFrame object,
     * with robot sensed observations.
     *
     * \sa options
     */
    void prediction_and_update_pfAuxiliaryPFOptimal(
        const mrpt::obs::CActionCollection* action,
        const mrpt::obs::CSensoryFrame* observation,
        const bayes::CParticleFilter::TParticleFilterOptions& PF_options)
        override;

    // protected:
    /** \name Virtual methods that the PF_implementations assume exist.
        @{ */
    /** Return the robot pose for the i'th particle. is_valid is
     * always true in this class. */
    mrpt::math::TPose3D getLastPose(
        const size_t i, bool& is_valid_pose) const override;

    void PF_SLAM_implementation_custom_update_particle_with_new_pose(
        mrpt::math::TPose2D* particleData,
        const mrpt::math::TPose3D& newPose) const override;

    // We'll redefine this one:
    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 override;

    /** Evaluate the observation likelihood for one particle at a given location
     */
    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 override;
    /** @} */

};  // End of class def.

}  // namespace slam
}  // namespace mrpt