Detailed Description

Class to monitor the evolution of a statistical quantity.

Keeps track of the last N incoming measurements of the quantity at hand and upon request returns statistical properties of these measurements (mean, median, etc.)

Class also contains methods for evaluating incoming measurements (whether to accept or reject those)

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

sliding_win_size
- Default value : 10
- Required : FALSE
- Description : How many of the latest measurements to take into account when computing the relevant statistics

Definition at line 42 of file TSlidingWindow.h.

#include <mrpt/graphslam/misc/TSlidingWindow.h>

Inheritance diagram for mrpt::graphslam::TSlidingWindow:

Public Member Functions
	TSlidingWindow (const std::string &name="window")

	~TSlidingWindow () override=default

double	getMedian ()
	Return the current median value. More...

double	getMean ()
	Return the current mean value. More...

double	getStdDev ()
	Return the Standard deviation of the current measurement vector. More...

bool	evaluateMeasurementInGaussian (double measurement)
	Determine whether the incoming measurement is inside the [-3sigma, +3sigma] boundaries from the current mean value. More...

bool	evaluateMeasurementAbove (double value)
	Determine whether the incoming measurement is over the current mean value. More...

bool	evaluateMeasurementBelow (double value)
	Determine whether the incoming measurement is less or equal to the current mean value. More...

void	addNewMeasurement (double measurement)
	Update the sliding window by appending a new measurement. More...

void	resizeWindow (size_t new_size)
	Resize the window. More...

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

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

size_t	getWindowSize () const
	Return the size of the window. More...

bool	windowIsFull () const
	Check if the window has reached its limit. More...

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

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

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

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

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

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

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

Private Attributes
size_t	m_win_size = 5

std::vector< double >	m_measurements_vec

std::string	m_name
	Name of the TSlidingWindow Instance at hand. More...

double	m_mean_cached = 0.0f
	Cached mean value. More...

double	m_median_cached = 0.0f
	Cached median value. More...

double	m_std_dev_cached
	Cached version of the standard deviation. More...

bool	m_mean_updated = false
	Is the mean up-to-date? More...

bool	m_median_updated = false
	Is the median up-to-date? More...

bool	m_std_dev_updated
	Is the standard deviation up-to-date? More...

bool	m_is_initialized = false
	flag is raised the first time that TSlidingWindow::addNewMeasurement is called More...

Constructor & Destructor Documentation

◆ TSlidingWindow()

TSlidingWindow::TSlidingWindow ( const std::string & name = "window" )

Definition at line 22 of file TSlidingWindow.cpp.

◆ ~TSlidingWindow()

mrpt::graphslam::TSlidingWindow::~TSlidingWindow ( )

overridedefault

Member Function Documentation

◆ addNewMeasurement()

void TSlidingWindow::addNewMeasurement ( double measurement )

Update the sliding window by appending a new measurement.

Definition at line 135 of file TSlidingWindow.cpp.

References m_is_initialized, m_mean_updated, m_measurements_vec, m_median_updated, m_std_dev_updated, m_win_size, MRPT_END, and MRPT_START.

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

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

Definition at line 43 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

void TSlidingWindow::dumpToTextStream ( std::ostream & out ) const

overridevirtual

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

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

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 191 of file TSlidingWindow.cpp.

References mrpt::format(), m_is_initialized, m_mean_cached, m_mean_updated, m_measurements_vec, m_median_cached, m_median_updated, m_name, m_std_dev_cached, m_std_dev_updated, m_win_size, MRPT_END, MRPT_START, and out.

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◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_int()

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

staticprotectedinherited

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

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ evaluateMeasurementAbove()

bool TSlidingWindow::evaluateMeasurementAbove ( double value )

Determine whether the incoming measurement is over the current mean value.

Returns: True if it's above the mean

Definition at line 121 of file TSlidingWindow.cpp.

References getMean(), MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementBelow().

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◆ evaluateMeasurementBelow()

bool TSlidingWindow::evaluateMeasurementBelow ( double value )

Determine whether the incoming measurement is less or equal to the current mean value.

Returns: True if it's <= to the mean

Definition at line 130 of file TSlidingWindow.cpp.

References evaluateMeasurementAbove().

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◆ evaluateMeasurementInGaussian()

bool TSlidingWindow::evaluateMeasurementInGaussian ( double measurement )

Determine whether the incoming measurement is inside the [-3sigma, +3sigma] boundaries from the current mean value.

Returns: True if it's inside the uncertainty boundaries

Definition at line 111 of file TSlidingWindow.cpp.

References getMean(), and getStdDev().

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◆ getMean()

double TSlidingWindow::getMean ( )

Return the current mean value.

Definition at line 57 of file TSlidingWindow.cpp.

References m_mean_cached, m_mean_updated, m_measurements_vec, MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementAbove(), evaluateMeasurementInGaussian(), and getStdDev().

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◆ getMedian()

double TSlidingWindow::getMedian ( )

Return the current median value.

Definition at line 27 of file TSlidingWindow.cpp.

References m_measurements_vec, m_median_cached, m_median_updated, MRPT_END, and MRPT_START.

◆ getStdDev()

double TSlidingWindow::getStdDev ( )

Return the Standard deviation of the current measurement vector.

Definition at line 81 of file TSlidingWindow.cpp.

References getMean(), m_measurements_vec, m_std_dev_cached, m_std_dev_updated, m_win_size, mrpt::math::mean(), MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementInGaussian().

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◆ getWindowSize()

size_t TSlidingWindow::getWindowSize ( ) const

Return the size of the window.

Definition at line 222 of file TSlidingWindow.cpp.

References m_win_size.

◆ loadFromConfigFile()

void TSlidingWindow::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

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

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

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

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 180 of file TSlidingWindow.cpp.

References MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_int(), and resizeWindow().

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◆ loadFromConfigFileName()

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

inherited

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

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ resizeWindow()

void TSlidingWindow::resizeWindow ( size_t new_size )

Resize the window.

Note: Method affects the underlying vector only if the new_size specified has already been reached

Definition at line 159 of file TSlidingWindow.cpp.

References m_mean_updated, m_measurements_vec, m_median_updated, m_win_size, MRPT_END, and MRPT_START.

Referenced by loadFromConfigFile().

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◆ saveToConfigFile()

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

virtualinherited

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

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

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

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◆ saveToConfigFileName()

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

inherited

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

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 36 of file CLoadableOptions.cpp.

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

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◆ windowIsFull()

bool TSlidingWindow::windowIsFull ( ) const

Check if the window has reached its limit.

This limit is set by the user via the resizeWindow method.

See also: resizeWindow

Definition at line 223 of file TSlidingWindow.cpp.

References m_measurements_vec, and m_win_size.

Member Data Documentation

◆ m_is_initialized

bool mrpt::graphslam::TSlidingWindow::m_is_initialized = false

private

flag is raised the first time that TSlidingWindow::addNewMeasurement is called

Definition at line 113 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), and dumpToTextStream().

◆ m_mean_cached

double mrpt::graphslam::TSlidingWindow::m_mean_cached = 0.0f

private

Cached mean value.

Definition at line 101 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and getMean().

◆ m_mean_updated

bool mrpt::graphslam::TSlidingWindow::m_mean_updated = false

private

Is the mean up-to-date?

Definition at line 105 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMean(), and resizeWindow().

◆ m_measurements_vec

std::vector<double> mrpt::graphslam::TSlidingWindow::m_measurements_vec

private

Definition at line 96 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMean(), getMedian(), getStdDev(), resizeWindow(), and windowIsFull().

◆ m_median_cached

double mrpt::graphslam::TSlidingWindow::m_median_cached = 0.0f

private

Cached median value.

Definition at line 102 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and getMedian().

◆ m_median_updated

bool mrpt::graphslam::TSlidingWindow::m_median_updated = false

private

Is the median up-to-date?

Definition at line 106 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMedian(), and resizeWindow().

◆ m_name

std::string mrpt::graphslam::TSlidingWindow::m_name

private

Name of the TSlidingWindow Instance at hand.

Definition at line 99 of file TSlidingWindow.h.

Referenced by dumpToTextStream().

◆ m_std_dev_cached

double mrpt::graphslam::TSlidingWindow::m_std_dev_cached

private

Initial value:

=

0.0f

Cached version of the standard deviation.

Definition at line 103 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and getStdDev().

◆ m_std_dev_updated

bool mrpt::graphslam::TSlidingWindow::m_std_dev_updated

private

Initial value:

=

false

Is the standard deviation up-to-date?

Definition at line 107 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), and getStdDev().

◆ m_win_size

size_t mrpt::graphslam::TSlidingWindow::m_win_size = 5

private

Definition at line 95 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getStdDev(), getWindowSize(), resizeWindow(), and windowIsFull().

Detailed Description

Public Member Functions

Static Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ TSlidingWindow()

◆ ~TSlidingWindow()

Member Function Documentation

◆ addNewMeasurement()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ evaluateMeasurementAbove()

◆ evaluateMeasurementBelow()

◆ evaluateMeasurementInGaussian()

◆ getMean()

◆ getMedian()

◆ getStdDev()

◆ getWindowSize()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ resizeWindow()

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ windowIsFull()

Member Data Documentation

◆ m_is_initialized

◆ m_mean_cached

◆ m_mean_updated

◆ m_measurements_vec

◆ m_median_cached

◆ m_median_updated

◆ m_name

◆ m_std_dev_cached

◆ m_std_dev_updated

◆ m_win_size