mrpt::slam Namespace Reference

Namespaces
	detail

Classes
class	CGridMapAligner
	A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching. More...
class	CICP
	Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. More...
class	CIncrementalMapPartitioner
	Finds partitions in metric maps based on N-cut graph partition theory. More...
class	CMetricMapBuilder
	This virtual class is the base for SLAM implementations. More...
class	CMetricMapBuilderICP
	A class for very simple 2D SLAM based on ICP. More...
class	CMetricMapBuilderRBPF
	This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM). More...
class	CMetricMapsAlignmentAlgorithm
	A base class for any algorithm able of maps alignment. More...
class	CMonteCarloLocalization2D
	Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
class	CMonteCarloLocalization3D
	Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples. More...
class	COccupancyGridMapFeatureExtractor
	A class for detecting features from occupancy grid maps. More...
class	CRangeBearingKFSLAM
	An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. More...
class	CRangeBearingKFSLAM2D
	An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks. More...
class	CRejectionSamplingRangeOnlyLocalization
	An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More...
struct	map_keyframe_t
	Map keyframe, comprising raw observations and they as a metric map. More...
class	PF_implementation
	A set of common data shared by PF implementations for both SLAM and localization. More...
struct	TAuxDataRecursiveJCBB
struct	TDataAssociationResults
	The results from mrpt::slam::data_association. More...
class	TKLDParams
	Option set for KLD algorithm. More...
struct	TMetricMapAlignmentResult
	Used as base class for other result structures of each particular algorithm in CMetricMapsAlignmentAlgorithm derived classes. More...
struct	TMonteCarloLocalizationParams
	The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More...

Typedefs
using	similarity_func_t = std::function< double(const map_keyframe_t &kf1, const map_keyframe_t &kf2, const mrpt::poses::CPose3D &relPose2wrt1)>
	Type of similarity evaluator for map keyframes. More...

Enumerations
enum	TICPAlgorithm { icpClassic = 0, icpLevenbergMarquardt }
	The ICP algorithm selection, used in mrpt::slam::CICP::options mrpt_slam_grp. More...
enum	TICPCovarianceMethod { icpCovLinealMSE = 0, icpCovFiniteDifferences }
	ICP covariance estimation methods, used in mrpt::slam::CICP::options. More...
enum	similarity_method_t : uint8_t { smMETRIC_MAP_MATCHING = 0, smOBSERVATION_OVERLAP, smCUSTOM_FUNCTION }
	For use in CIncrementalMapPartitioner. More...

Functions
template<class PARTICLETYPE , class BINTYPE >
void	KLF_loadBinFromParticle (BINTYPE &outBin, const TKLDParams &opts, const PARTICLETYPE *currentParticleValue=nullptr, const mrpt::math::TPose3D *newPoseToBeInserted=nullptr)
template<>
void	KLF_loadBinFromParticle (mrpt::slam::detail::TPoseBin2D &outBin, const TKLDParams &opts, const CMonteCarloLocalization2D::CParticleDataContent *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<>
void	KLF_loadBinFromParticle (mrpt::slam::detail::TPoseBin3D &outBin, const TKLDParams &opts, const CMonteCarloLocalization3D::CParticleDataContent *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPoseBin3D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<>
void	KLF_loadBinFromParticle (detail::TPoseBin2D &outBin, const TKLDParams &opts, const mrpt::maps::CRBPFParticleData *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<>
void	KLF_loadBinFromParticle (detail::TPathBin2D &outBin, const TKLDParams &opts, const mrpt::maps::CRBPFParticleData *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPathBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<typename T , TDataAssociationMetric METRIC>
double	joint_pdf_metric (const CMatrixDynamic< T > &Z_observations_mean, const CMatrixDynamic< T > &Y_predictions_mean, const CMatrixDynamic< T > &Y_predictions_cov, const TAuxDataRecursiveJCBB &info, [[maybe_unused]] const TDataAssociationResults &aux_data)
	Computes the joint distance metric (mahalanobis or matching likelihood) between two a set of associations. More...
template<TDataAssociationMetric METRIC>
bool	isCloser (const double v1, const double v2)
template<>
bool	isCloser< metricMaha > (const double v1, const double v2)
template<>
bool	isCloser< metricML > (const double v1, const double v2)
template<typename T , TDataAssociationMetric METRIC>
void	JCBB_recursive (const mrpt::math::CMatrixDynamic< T > &Z_observations_mean, const mrpt::math::CMatrixDynamic< T > &Y_predictions_mean, const mrpt::math::CMatrixDynamic< T > &Y_predictions_cov, TDataAssociationResults &results, const TAuxDataRecursiveJCBB &info, const observation_index_t curObsIdx)
Observations overlap functions
double	observationsOverlap (const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=nullptr)
	Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. More...
double	observationsOverlap (const mrpt::obs::CObservation::Ptr &o1, const mrpt::obs::CObservation::Ptr &o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=nullptr)
	Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. More...
double	observationsOverlap (const mrpt::obs::CSensoryFrame &sf1, const mrpt::obs::CSensoryFrame &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=nullptr)
	Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More...
double	observationsOverlap (const mrpt::obs::CSensoryFrame::Ptr &sf1, const mrpt::obs::CSensoryFrame::Ptr &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=nullptr)
	Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More...

Data association
enum	TDataAssociationMethod { assocNN = 0, assocJCBB }
	Different algorithms for data association, used in mrpt::slam::data_association. More...
enum	TDataAssociationMetric { metricMaha = 0, metricML }
	Different metrics for data association, used in mrpt::slam::data_association For a comparison of both methods see paper: More...
using	observation_index_t = size_t
	Used in mrpt::slam::TDataAssociationResults. More...
using	prediction_index_t = size_t
	Used in mrpt::slam::TDataAssociationResults. More...
void	data_association_full_covariance (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
	Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with prediction full cross-covariances. More...
void	data_association_independent_predictions (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
	Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with NO prediction cross-covariances. More...

Enumeration Type Documentation

TICPAlgorithm

enum mrpt::slam::TICPAlgorithm

The ICP algorithm selection, used in mrpt::slam::CICP::options mrpt_slam_grp.

Enumerator
icpClassic
icpLevenbergMarquardt

Definition at line 19 of file CICP.h.

Function Documentation

isCloser()

template<TDataAssociationMetric METRIC>

bool mrpt::slam::isCloser	(	const double	v1,
		const double	v2
	)

isCloser< metricMaha >()

template<>

bool mrpt::slam::isCloser< metricMaha >	(	const double	v1,
		const double	v2
	)

Definition at line 137 of file data_association.cpp.

isCloser< metricML >()

template<>

bool mrpt::slam::isCloser< metricML >	(	const double	v1,
		const double	v2
	)

Definition at line 143 of file data_association.cpp.

JCBB_recursive()

template<typename T , TDataAssociationMetric METRIC>

void mrpt::slam::JCBB_recursive	(	const mrpt::math::CMatrixDynamic< T > &	Z_observations_mean,
		const mrpt::math::CMatrixDynamic< T > &	Y_predictions_mean,
		const mrpt::math::CMatrixDynamic< T > &	Y_predictions_cov,
		TDataAssociationResults &	results,
		const TAuxDataRecursiveJCBB &	info,
		const observation_index_t	curObsIdx
	)

Definition at line 156 of file data_association.cpp.

References mrpt::slam::TAuxDataRecursiveJCBB::currentAssociation, mrpt::slam::TAuxDataRecursiveJCBB::nObservations, and results.

joint_pdf_metric()

template<typename T , TDataAssociationMetric METRIC>

double mrpt::slam::joint_pdf_metric	(	const CMatrixDynamic< T > &	Z_observations_mean,
		const CMatrixDynamic< T > &	Y_predictions_mean,
		const CMatrixDynamic< T > &	Y_predictions_cov,
		const TAuxDataRecursiveJCBB &	info,
		[[maybe_unused] ] const TDataAssociationResults &	aux_data
	)

Computes the joint distance metric (mahalanobis or matching likelihood) between two a set of associations.

On "currentAssociation": maps "ID_obs" -> "ID_pred" For each landmark ID in the observations (ID_obs), its association in the predictions, that is: ID_pred = associations[ID_obs]

Definition at line 64 of file data_association.cpp.

References ASSERT_, mrpt::slam::TAuxDataRecursiveJCBB::currentAssociation, mrpt::math::MatrixBase< T, CMatrixDynamic< T > >::det(), mrpt::math::extractSubmatrixSymmetricalBlocksDyn(), mrpt::math::MatrixBase< T, CMatrixDynamic< T > >::inverse_LLt(), mrpt::slam::TAuxDataRecursiveJCBB::length_O, M_2PI, metricMaha, metricML, and mrpt::math::multiply_HtCH_scalar().

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KLF_loadBinFromParticle() [1/5]

template<class PARTICLETYPE , class BINTYPE >

void mrpt::slam::KLF_loadBinFromParticle	(	BINTYPE &	outBin,
		const TKLDParams &	opts,
		const PARTICLETYPE *	currentParticleValue = nullptr,
		const mrpt::math::TPose3D *	newPoseToBeInserted = nullptr
	)

KLF_loadBinFromParticle() [2/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	mrpt::slam::detail::TPoseBin3D &	outBin,
		const TKLDParams &	opts,
		const CMonteCarloLocalization3D::CParticleDataContent *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPoseBin3D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 35 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::math::TPose3D::pitch, mrpt::slam::detail::TPoseBin3D::pitch, mrpt::math::TPose3D::roll, mrpt::slam::detail::TPoseBin3D::roll, mrpt::round(), mrpt::math::TPose3D::x, mrpt::slam::detail::TPoseBin3D::x, mrpt::math::TPose3D::y, mrpt::slam::detail::TPoseBin3D::y, mrpt::math::TPose3D::yaw, mrpt::slam::detail::TPoseBin3D::yaw, mrpt::math::TPose3D::z, and mrpt::slam::detail::TPoseBin3D::z.

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KLF_loadBinFromParticle() [3/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	mrpt::slam::detail::TPoseBin2D &	outBin,
		const TKLDParams &	opts,
		const CMonteCarloLocalization2D::CParticleDataContent *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 41 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::slam::detail::TPoseBin2D::phi, mrpt::math::TPose2D::phi, mrpt::round(), mrpt::slam::detail::TPoseBin2D::x, mrpt::math::TPose2D::x, mrpt::math::TPose3D::x, mrpt::slam::detail::TPoseBin2D::y, mrpt::math::TPose2D::y, mrpt::math::TPose3D::y, and mrpt::math::TPose3D::yaw.

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KLF_loadBinFromParticle() [4/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	detail::TPoseBin2D &	outBin,
		const TKLDParams &	opts,
		const mrpt::maps::CRBPFParticleData *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 46 of file CMultiMetricMapPDF_RBPF.cpp.

References ASSERT_, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::slam::detail::TPoseBin2D::phi, mrpt::maps::CRBPFParticleData::robotPath, mrpt::round(), mrpt::slam::detail::TPoseBin2D::x, mrpt::math::TPose3D::x, mrpt::slam::detail::TPoseBin2D::y, mrpt::math::TPose3D::y, and mrpt::math::TPose3D::yaw.

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KLF_loadBinFromParticle() [5/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	detail::TPathBin2D &	outBin,
		const TKLDParams &	opts,
		const mrpt::maps::CRBPFParticleData *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPathBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 73 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::slam::detail::TPathBin2D::bins, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::maps::CRBPFParticleData::robotPath, mrpt::round(), mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, and mrpt::math::TPose3D::yaw.

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