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MRPT
2.0.2
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Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications).
This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"
Definition at line 57 of file CMultiMetricMapPDF.h.
#include <mrpt/maps/CMultiMetricMapPDF.h>
Classes | |
| struct | TPredictionParams |
| The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. More... | |
Public Types | |
| using | CParticleDataContent = CRBPFParticleData |
| This is the type inside the corresponding CParticleData class. More... | |
| using | CParticleData = CProbabilityParticle< CRBPFParticleData, particle_storage_mode::POINTER > |
| Use this to refer to each element in the m_particles array. More... | |
| using | CParticleList = std::deque< CParticleData > |
| Use this type to refer to the list of particles m_particles. More... | |
| using | TParticleProbabilityEvaluator = double(*)(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 | |
| CMultiMetricMapPDF ()=default | |
| Constructor. More... | |
| CMultiMetricMapPDF (const bayes::CParticleFilter::TParticleFilterOptions &opts, const mrpt::maps::TSetOfMetricMapInitializers &mapsInitializers, const TPredictionParams &predictionOptions) | |
| void | clear (const mrpt::poses::CPose2D &initialPose) |
| Clear all elements of the maps, and restore all paths to a single starting pose. More... | |
| void | clear (const mrpt::poses::CPose3D &initialPose) |
| void | clear (const mrpt::maps::CSimpleMap &prevMap, const mrpt::poses::CPose3D ¤tPose) |
| Resets the map by loading an already-mapped map for past poses. More... | |
| void | getEstimatedPosePDFAtTime (size_t timeStep, mrpt::poses::CPose3DPDFParticles &out_estimation) const |
| Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. More... | |
| void | getEstimatedPosePDF (mrpt::poses::CPose3DPDFParticles &out_estimation) const |
| Returns the current estimate of the robot pose, as a particles PDF. More... | |
| const CMultiMetricMap * | getAveragedMetricMapEstimation () |
| Returns the weighted averaged map based on the current best estimation. More... | |
| const CMultiMetricMap * | getCurrentMostLikelyMetricMap () const |
| Returns a pointer to the current most likely map (associated to the most likely particle) More... | |
| size_t | getNumberOfObservationsInSimplemap () const |
| Get the number of CSensoryFrame inserted into the internal member SFs. More... | |
| bool | insertObservation (mrpt::obs::CSensoryFrame &sf) |
| Insert an observation to the map, at each particle's pose and to each particle's metric map. More... | |
| void | getPath (size_t i, std::deque< math::TPose3D > &out_path) const |
| Return the path (in absolute coordinate poses) for the i'th particle. More... | |
| double | getCurrentEntropyOfPaths () |
| Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance. More... | |
| double | getCurrentJointEntropy () |
| Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. More... | |
| void | updateSensoryFrameSequence () |
| Update the poses estimation of the member "SFs" according to the current path belief. More... | |
| void | saveCurrentPathEstimationToTextFile (const std::string &fil) |
| A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). 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... | |
| 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 CParticleData * | getMostLikelyParticle () const |
| Returns the particle with the highest weight. More... | |
| const CMultiMetricMapPDF & | derived () const |
| CRTP helper method. More... | |
| CMultiMetricMapPDF & | derived () |
| CRTP helper method. More... | |
| double | getW (size_t i) const override |
| Access to i'th particle (logarithm) weight, where first one is index 0. More... | |
| void | setW (size_t i, double w) override |
| Modifies i'th particle (logarithm) weight, where first one is index 0. More... | |
| size_t | particlesCount () const override |
| Get the m_particles count. More... | |
| double | normalizeWeights (double *out_max_log_w=nullptr) override |
| Normalize the (logarithmic) weights, such as the maximum weight is zero. More... | |
| double | ESS () const override |
| Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More... | |
| void | performSubstitution (const std::vector< size_t > &indx) 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=nullptr, const void *observation=nullptr) 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... | |
| double | PF_SLAM_particlesEvaluator_AuxPFOptimal (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::CParticleFilterCapable *obj, size_t index, [[maybe_unused]] const void *action, const void *observation) |
| 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 override |
| Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose. More... | |
| void | PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const mrpt::math::TPose3D &newPose) const override |
| bool | PF_SLAM_implementation_doWeHaveValidObservations (const CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const override |
| bool | PF_SLAM_implementation_skipRobotMovement () const override |
| Do not move the particles until the map is populated. More... | |
| 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 |
| Evaluate the observation likelihood for one particle at a given location. More... | |
RTTI classes and functions for polymorphic hierarchies | |
| mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
| Makes a deep copy of the object and returns a smart pointer to it. More... | |
Virtual methods that the PF_implementations assume exist. | |
| virtual void | PF_SLAM_implementation_custom_update_particle_with_new_pose (CRBPFParticleData *particleData, const mrpt::math::TPose3D &newPose) const=0 |
| virtual void | PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< CRBPFParticleData, STORAGE >::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 ([[maybe_unused]] const typename mrpt::bayes::CParticleFilterData< CRBPFParticleData, STORAGE >::CParticleList &particles, [[maybe_unused]] const mrpt::obs::CSensoryFrame *sf) const |
Static Public Member Functions | |
| static double | defaultEvaluator ([[maybe_unused]] const bayes::CParticleFilter::TParticleFilterOptions &PF_options, [[maybe_unused]] const CParticleFilterCapable *obj, size_t index, [[maybe_unused]] const void *action, [[maybe_unused]] 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... | |
| static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & | logging_levels_to_colors () |
| Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More... | |
| static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & | logging_levels_to_names () |
| Map from VerbosityLevels to their corresponding names. More... | |
Public Attributes | |
| mrpt::maps::CMultiMetricMapPDF::TPredictionParams | options |
| CParticleList | m_particles |
| The array of particles. More... | |
Static Public Attributes | |
| static const particle_storage_mode | PARTICLE_STORAGE |
Protected Member Functions | |
| void | prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override |
| Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More... | |
| void | prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override |
| 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... | |
| void | prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override |
| Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More... | |
| void | prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override |
| Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More... | |
CSerializable virtual methods | |
| uint8_t | serializeGetVersion () const override |
| Must return the current versioning number of the object. More... | |
| void | serializeTo (mrpt::serialization::CArchive &out) const override |
| Pure virtual method for writing (serializing) to an abstract archive. More... | |
| void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
| Pure virtual method for reading (deserializing) from an abstract archive. More... | |
CSerializable virtual methods | |
| virtual void | serializeTo (CSchemeArchiveBase &out) const |
| Virtual method for writing (serializing) to an abstract schema based archive. More... | |
| virtual void | serializeFrom (CSchemeArchiveBase &in) |
| Virtual method for reading (deserializing) from an abstract schema based archive. 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... | |
| VerbosityLevel | m_min_verbosity_level {LVL_INFO} |
| Provided messages with VerbosityLevel smaller than this value shall be ignored. More... | |
Private Member Functions | |
| void | rebuildAverageMap () |
| Rebuild the "expected" grid map. More... | |
Private Attributes | |
| mrpt::maps::CMultiMetricMap | averageMap |
| Internal buffer for the averaged map. More... | |
| bool | averageMapIsUpdated {false} |
| mrpt::maps::CSimpleMap | SFs |
| The SFs and their corresponding pose estimations. More... | |
| std::vector< uint32_t > | SF2robotPath |
| A mapping between indexes in the SFs to indexes in the robot paths from particles. More... | |
| float | newInfoIndex {0} |
| An index [0,1] measuring how much information an observation aports to the map (Typ. More... | |
Friends | |
| class | mrpt::slam::CMetricMapBuilderRBPF |
RTTI stuff | |
| using | Ptr = std::shared_ptr< mrpt::maps ::CMultiMetricMapPDF > |
| using | ConstPtr = std::shared_ptr< const mrpt::maps ::CMultiMetricMapPDF > |
| using | UniquePtr = std::unique_ptr< mrpt::maps ::CMultiMetricMapPDF > |
| using | ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CMultiMetricMapPDF > |
| static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
| static constexpr const char * | className = "mrpt::maps" "::" "CMultiMetricMapPDF" |
| static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
| static constexpr auto | getClassName () |
| static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
| static std::shared_ptr< CObject > | CreateObject () |
| template<typename... Args> | |
| static Ptr | Create (Args &&... args) |
| template<typename Alloc , typename... Args> | |
| static Ptr | CreateAlloc (const Alloc &alloc, Args &&... args) |
| template<typename... Args> | |
| static UniquePtr | CreateUnique (Args &&... args) |
| virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
| Returns information about the class of an object in runtime. More... | |
| virtual mrpt::rtti::CObject * | clone () const override |
| Returns a deep copy (clone) of the object, indepently of its class. More... | |
Logging methods | |
| bool | logging_enable_console_output {true} |
| [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More... | |
| bool | logging_enable_keep_record {false} |
| [Default=false] Enables storing all messages into an internal list. More... | |
| void | logStr (const VerbosityLevel level, std::string_view msg_str) const |
| Main method to add the specified message string to the logger. More... | |
| void | logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3 |
| Alternative logging method, which mimics the printf behavior. More... | |
| void void | logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const |
| Log the given message only if the condition is satisfied. More... | |
| void | setLoggerName (const std::string &name) |
| Set the name of the COutputLogger instance. More... | |
| std::string | getLoggerName () const |
| Return the name of the COutputLogger instance. More... | |
| void | setMinLoggingLevel (const VerbosityLevel level) |
| Set the minimum logging level for which the incoming logs are going to be taken into account. More... | |
| void | setVerbosityLevel (const VerbosityLevel level) |
| alias of setMinLoggingLevel() More... | |
| VerbosityLevel | getMinLoggingLevel () const |
| bool | isLoggingLevelVisible (VerbosityLevel level) const |
| void | getLogAsString (std::string &log_contents) const |
| Fill the provided string with the contents of the logger's history in std::string representation. More... | |
| std::string | getLogAsString () const |
| Get the history of COutputLogger instance in a string representation. More... | |
| void | writeLogToFile (const std::string *fname_in=nullptr) const |
| Write the contents of the COutputLogger instance to an external file. More... | |
| void | dumpLogToConsole () const |
| Dump the current contents of the COutputLogger instance in the terminal window. More... | |
| std::string | getLoggerLastMsg () const |
| Return the last Tmsg instance registered in the logger history. More... | |
| void | getLoggerLastMsg (std::string &msg_str) const |
| Fill inputtted string with the contents of the last message in history. More... | |
| void | loggerReset () |
| Reset the contents of the logger instance. More... | |
| void | logRegisterCallback (output_logger_callback_t userFunc) |
| bool | logDeregisterCallback (output_logger_callback_t userFunc) |
| using mrpt::maps::CMultiMetricMapPDF::ConstPtr = std::shared_ptr<const mrpt::maps :: CMultiMetricMapPDF > |
Definition at line 69 of file CMultiMetricMapPDF.h.
| using mrpt::maps::CMultiMetricMapPDF::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CMultiMetricMapPDF > |
Definition at line 69 of file CMultiMetricMapPDF.h.
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inherited |
Use this to refer to each element in the m_particles array.
Definition at line 189 of file CParticleFilterData.h.
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inherited |
This is the type inside the corresponding CParticleData class.
Definition at line 187 of file CParticleFilterData.h.
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inherited |
Use this type to refer to the list of particles m_particles.
Definition at line 191 of file CParticleFilterData.h.
| using mrpt::maps::CMultiMetricMapPDF::Ptr = std::shared_ptr< mrpt::maps :: CMultiMetricMapPDF > |
A type for the associated smart pointer
Definition at line 69 of file CMultiMetricMapPDF.h.
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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.
| 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. |
Definition at line 60 of file CParticleFilterCapable.h.
| using mrpt::maps::CMultiMetricMapPDF::UniquePtr = std::unique_ptr< mrpt::maps :: CMultiMetricMapPDF > |
Definition at line 69 of file CMultiMetricMapPDF.h.
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default |
Constructor.
| CMultiMetricMapPDF::CMultiMetricMapPDF | ( | const bayes::CParticleFilter::TParticleFilterOptions & | opts, |
| const mrpt::maps::TSetOfMetricMapInitializers & | mapsInitializers, | ||
| const TPredictionParams & | predictionOptions | ||
| ) |
Definition at line 47 of file CMultiMetricMapPDF.cpp.
References mrpt::containers::clear().
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staticprotected |
| void CMultiMetricMapPDF::clear | ( | const mrpt::poses::CPose2D & | initialPose | ) |
Clear all elements of the maps, and restore all paths to a single starting pose.
Definition at line 71 of file CMultiMetricMapPDF.cpp.
References mrpt::containers::clear().
Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), and mrpt::slam::CMetricMapBuilderRBPF::initialize().
| void CMultiMetricMapPDF::clear | ( | const mrpt::poses::CPose3D & | initialPose | ) |
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 80 of file CMultiMetricMapPDF.cpp.
References mrpt::poses::CPose3D::asTPose().
| void CMultiMetricMapPDF::clear | ( | const mrpt::maps::CSimpleMap & | prevMap, |
| const mrpt::poses::CPose3D & | currentPose | ||
| ) |
Resets the map by loading an already-mapped map for past poses.
Current robot pose should be normally set to the last keyframe in the simplemap.
Definition at line 99 of file CMultiMetricMapPDF.cpp.
References ASSERT_, mrpt::poses::CPose3D::asTPose(), mrpt::maps::CSimpleMap::clear(), mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), IS_CLASS, and mrpt::maps::CSimpleMap::size().
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inlineinherited |
Free the memory of all the particles and reset the array "m_particles" to length zero.
Definition at line 201 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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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
| [in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
Definition at line 61 of file CParticleFilterCapable.cpp.
References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), mrpt::random::getRandomGenerator(), mrpt::math::maximum(), MRPT_END, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::prResidual, mrpt::bayes::CParticleFilter::prStratified, mrpt::bayes::CParticleFilter::prSystematic, R, and THROW_EXCEPTION.
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inlinestatic |
Definition at line 69 of file CMultiMetricMapPDF.h.
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inlinestatic |
Definition at line 69 of file CMultiMetricMapPDF.h.
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static |
|
inlinestatic |
Definition at line 69 of file CMultiMetricMapPDF.h.
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inlinestaticinherited |
The default evaluator function, which simply returns the particle weight.
The action and the observation are declared as "void*" for a greater flexibility.
Definition at line 68 of file CParticleFilterCapable.h.
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inlineinherited |
CRTP helper method.
Definition at line 34 of file CParticleFilterData.h.
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inlineinherited |
CRTP helper method.
Definition at line 39 of file CParticleFilterData.h.
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inherited |
Dump the current contents of the COutputLogger instance in the terminal window.
Definition at line 190 of file COutputLogger.cpp.
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inlineinherited |
Makes a deep copy of the object and returns a smart pointer to it.
Definition at line 204 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::insert().
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inlineoverridevirtualinherited |
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 84 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::square().
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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:
Definition at line 478 of file CParticleFilterCapable.cpp.
References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.
Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().
| const CMultiMetricMap * CMultiMetricMapPDF::getAveragedMetricMapEstimation | ( | ) |
Returns the weighted averaged map based on the current best estimation.
If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy.
Definition at line 281 of file CMultiMetricMapPDF.cpp.
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inlinestatic |
Definition at line 69 of file CMultiMetricMapPDF.h.
| double CMultiMetricMapPDF::getCurrentEntropyOfPaths | ( | ) |
Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance.
Definition at line 443 of file CMultiMetricMapPDF.cpp.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceEntropy().
| double CMultiMetricMapPDF::getCurrentJointEntropy | ( | ) |
Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C.
Stachniss, G. Grissetti and W.Burgard.
Definition at line 473 of file CMultiMetricMapPDF.cpp.
References ASSERT_, mrpt::maps::COccupancyGridMap2D::computeEntropy(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, and mrpt::maps::COccupancyGridMap2D::resizeGrid().
Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentJointEntropy().
| const CMultiMetricMap * CMultiMetricMapPDF::getCurrentMostLikelyMetricMap | ( | ) | const |
Returns a pointer to the current most likely map (associated to the most likely particle)
Definition at line 524 of file CMultiMetricMapPDF.cpp.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap().
| void CMultiMetricMapPDF::getEstimatedPosePDF | ( | mrpt::poses::CPose3DPDFParticles & | out_estimation | ) | const |
Returns the current estimate of the robot pose, as a particles PDF.
Definition at line 167 of file CMultiMetricMapPDF.cpp.
References ASSERT_.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
| void CMultiMetricMapPDF::getEstimatedPosePDFAtTime | ( | size_t | timeStep, |
| mrpt::poses::CPose3DPDFParticles & | out_estimation | ||
| ) | const |
Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1.
Definition at line 178 of file CMultiMetricMapPDF.cpp.
References mrpt::bayes::CParticleFilterData< T, STORAGE >::clearParticles(), and mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.
|
overridevirtual |
Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose.
| std::exception | on out-of-range particle index |
Definition at line 264 of file CMultiMetricMapPDF.cpp.
References THROW_EXCEPTION.
|
inherited |
Fill the provided string with the contents of the logger's history in std::string representation.
Definition at line 154 of file COutputLogger.cpp.
|
inherited |
Get the history of COutputLogger instance in a string representation.
Definition at line 159 of file COutputLogger.cpp.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
|
inherited |
Return the last Tmsg instance registered in the logger history.
Definition at line 195 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::getAsString().
|
inherited |
Fill inputtted string with the contents of the last message in history.
Definition at line 201 of file COutputLogger.cpp.
|
inherited |
Return the name of the COutputLogger instance.
Definition at line 143 of file COutputLogger.cpp.
|
inlineinherited |
Definition at line 201 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().
|
inlineinherited |
Returns the particle with the highest weight.
Definition at line 270 of file CParticleFilterData.h.
References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.
|
inline |
Get the number of CSensoryFrame inserted into the internal member SFs.
Definition at line 198 of file CMultiMetricMapPDF.h.
References SFs, and mrpt::maps::CSimpleMap::size().
| void CMultiMetricMapPDF::getPath | ( | size_t | i, |
| std::deque< math::TPose3D > & | out_path | ||
| ) | const |
Return the path (in absolute coordinate poses) for the i'th particle.
| On | index out of bounds |
Definition at line 433 of file CMultiMetricMapPDF.cpp.
References THROW_EXCEPTION.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath().
|
overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::serialization::CSerializable.
|
static |
|
inlineoverridevirtualinherited |
Access to i'th particle (logarithm) weight, where first one is index 0.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 40 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.
|
inlineinherited |
Returns a vector with the sequence of the logaritmic weights of all the samples.
Definition at line 256 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.
| bool CMultiMetricMapPDF::insertObservation | ( | mrpt::obs::CSensoryFrame & | sf | ) |
Insert an observation to the map, at each particle's pose and to each particle's metric map.
| sf | The SF to be inserted |
Definition at line 401 of file CMultiMetricMapPDF.cpp.
References mrpt::obs::CSensoryFrame::insertObservationsInto().
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
|
inlineinherited |
Definition at line 202 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().
|
staticinherited |
A static method to compute the linear, normalized (the sum the unity) weights from log-weights.
Definition at line 544 of file CParticleFilterCapable.cpp.
References ASSERT_, MRPT_END, and MRPT_START.
|
inherited |
Log the given message only if the condition is satisfied.
Definition at line 131 of file COutputLogger.cpp.
|
inherited |
Definition at line 291 of file COutputLogger.cpp.
References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.
|
inherited |
Alternative logging method, which mimics the printf behavior.
Handy for not having to first use mrpt::format to pass a std::string message to logStr
Definition at line 91 of file COutputLogger.cpp.
Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().
|
inherited |
Reset the contents of the logger instance.
Called upon construction.
Definition at line 206 of file COutputLogger.cpp.
References mrpt::system::LVL_INFO.
|
staticinherited |
Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.
Handy for coloring the input based on the verbosity of the message
Definition at line 47 of file COutputLogger.cpp.
References logging_levels_to_colors.
Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().
|
staticinherited |
Map from VerbosityLevels to their corresponding names.
Handy for printing the current message VerbosityLevel along with the actual content
Definition at line 60 of file COutputLogger.cpp.
References logging_levels_to_names.
Referenced by mrpt::system::COutputLogger::TMsg::getAsString().
|
inherited |
Definition at line 278 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::m_listCallbacks.
|
inherited |
Main method to add the specified message string to the logger.
Definition at line 72 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.
Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().
|
inlineoverridevirtualinherited |
Normalize the (logarithmic) weights, such as the maximum weight is zero.
| out_max_log_w | If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w. |
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 59 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.
|
inlineoverridevirtualinherited |
Get the m_particles count.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 54 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived().
|
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"
| [in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
Definition at line 29 of file CParticleFilterCapable.cpp.
References ASSERT_, MRPT_END, MRPT_START, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod.
Referenced by mrpt::bayes::CParticleFilter::executeOn().
|
inlineoverridevirtualinherited |
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 109 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::bayes::POINTER.
|
overridevirtual |
Evaluate the observation likelihood for one particle at a given location.
Definition at line 943 of file CMultiMetricMapPDF_RBPF.cpp.
References mrpt::maps::CMetricMap::computeObservationLikelihood().
|
pure virtualinherited |
|
override |
Definition at line 915 of file CMultiMetricMapPDF_RBPF.cpp.
References mrpt::maps::CRBPFParticleData::robotPath.
|
override |
Definition at line 922 of file CMultiMetricMapPDF_RBPF.cpp.
References ASSERT_.
|
inlinevirtualinherited |
Definition at line 260 of file PF_implementations_data.h.
|
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 46 of file PF_implementations.h.
|
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 155 of file PF_implementations.h.
|
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 404 of file PF_implementations.h.
|
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.
Definition at line 179 of file PF_implementations.h.
|
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 177 of file PF_implementations_data.h.
|
overridevirtual |
Do not move the particles until the map is populated.
Reimplemented from mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.
Definition at line 934 of file CMultiMetricMapPDF_RBPF.cpp.
|
staticprotectedinherited |
|
inherited |
Definition at line 424 of file PF_implementations.h.
|
staticprotectedinherited |
Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.
| 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 503 of file PF_implementations.h.
|
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.
Definition at line 273 of file CParticleFilterCapable.cpp.
References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal, mrpt::bayes::CParticleFilter::pfAuxiliaryPFStandard, mrpt::bayes::CParticleFilter::pfOptimalProposal, mrpt::bayes::CParticleFilter::pfStandardProposal, and THROW_EXCEPTION.
Referenced by mrpt::bayes::CParticleFilter::executeOn().
|
overrideprotectedvirtual |
Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented from mrpt::bayes::CParticleFilterCapable.
Definition at line 143 of file CMultiMetricMapPDF_RBPF.cpp.
References MRPT_END, and MRPT_START.
|
overrideprotectedvirtual |
Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented from mrpt::bayes::CParticleFilterCapable.
Definition at line 159 of file CMultiMetricMapPDF_RBPF.cpp.
References MRPT_END, and MRPT_START.
|
overrideprotectedvirtual |
Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
/ CPointPDFSOG newObsModel; (itBeacs)->generateObservationModelDistribution( sensedRange, newObsModel, beacMap, The beacon map, for options itObs->sensorLocationOnRobot,// Sensor location on robot centerPositionPrior, centerPositionPriorRadius ); /
Reimplemented from mrpt::bayes::CParticleFilterCapable.
Definition at line 188 of file CMultiMetricMapPDF_RBPF.cpp.
References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), ASSERT_, mrpt::poses::CPose3D::asTPose(), mrpt::poses::CPointPDFSOG::bayesianFusion(), TAuxRangeMeasInfo::beaconID, mrpt::poses::CPointPDFSOG::begin(), mrpt::poses::CPointPDFSOG::clear(), TAuxRangeMeasInfo::cmp_Asc(), mrpt::poses::CPosePDFGaussian::copyFrom(), mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::poses::CPoseRandomSampler::drawSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::poses::CPointPDFSOG::end(), mrpt::poses::CPointPDFSOG::erase(), mrpt::poses::CPointPDFSOG::ESS(), mrpt::poses::CPointPDFSOG::get(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::poses::CPointPDFSOG::getMean(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D(), mrpt::random::getRandomGenerator(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::obs::CSensoryFrame::insertObservationsInto(), INVALID_BEACON_ID, IS_CLASS, mrpt::poses::CPoseRandomSampler::isPrepared(), mrpt::keep_max(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, mrpt::poses::CPointPDFGaussian::mean, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_WARN, MRPT_LOG_WARN_FMT, MRPT_START, TAuxRangeMeasInfo::nGaussiansInMap, mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor, mrpt::poses::CPointPDFSOG::push_back(), mrpt::poses::CPointPDFSOG::resize(), TAuxRangeMeasInfo::sensedDistance, TAuxRangeMeasInfo::sensorLocationOnRobot, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseRandomSampler::setPosePDF(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::poses::CPointPDFSOG::size(), mrpt::square(), THROW_EXCEPTION, mrpt::poses::CPointPDFSOG::TGaussianMode::val, val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().
|
overrideprotectedvirtual |
Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented from mrpt::bayes::CParticleFilterCapable.
Definition at line 897 of file CMultiMetricMapPDF_RBPF.cpp.
References MRPT_END, and MRPT_START.
|
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):
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.
Definition at line 359 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::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.
Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().
|
inlineinherited |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
Definition at line 229 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T, STORAGE >::clearParticles(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, and mrpt::bayes::POINTER.
|
private |
Rebuild the "expected" grid map.
Used internally, do not call
Definition at line 287 of file CMultiMetricMapPDF.cpp.
References ASSERT_, mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::map, MRPT_END, MRPT_START, mrpt::maps::COccupancyGridMap2D::resizeGrid(), and mrpt::maps::COccupancyGridMap2D::setSize().
| void CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile | ( | const std::string & | fil | ) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).
Definition at line 570 of file CMultiMetricMapPDF.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile().
|
overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;.
| 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. |
| std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 222 of file CMultiMetricMapPDF.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
|
inlineprotectedvirtualinherited |
Virtual method for reading (deserializing) from an abstract schema based archive.
Definition at line 74 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
|
overrideprotectedvirtual |
Must return the current versioning number of the object.
Start in zero for new classes, and increments each time there is a change in the stored format.
Implements mrpt::serialization::CSerializable.
Definition at line 206 of file CMultiMetricMapPDF.cpp.
|
inlineprotectedvirtualinherited |
Virtual method for writing (serializing) to an abstract schema based archive.
Definition at line 64 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
|
overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;.
| std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 207 of file CMultiMetricMapPDF.cpp.
References out.
|
inherited |
Set the name of the COutputLogger instance.
Definition at line 138 of file COutputLogger.cpp.
Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().
|
inherited |
Set the minimum logging level for which the incoming logs are going to be taken into account.
String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance
Definition at line 144 of file COutputLogger.cpp.
Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().
|
inherited |
alias of setMinLoggingLevel()
Definition at line 149 of file COutputLogger.cpp.
Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().
|
inlineoverridevirtualinherited |
Modifies i'th particle (logarithm) weight, where first one is index 0.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 47 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.
| void CMultiMetricMapPDF::updateSensoryFrameSequence | ( | ) |
Update the poses estimation of the member "SFs" according to the current path belief.
Definition at line 545 of file CMultiMetricMapPDF.cpp.
References MRPT_END, and MRPT_START.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap().
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inherited |
Write the contents of the COutputLogger instance to an external file.
Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided
Definition at line 165 of file COutputLogger.cpp.
References ASSERTMSG_, and mrpt::format().
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inlineinherited |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
Definition at line 207 of file CParticleFilterData.h.
References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, out, and mrpt::bayes::POINTER.
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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.
mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 90 of file CSerializable.h.
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friend |
Definition at line 67 of file CMultiMetricMapPDF.h.
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private |
Internal buffer for the averaged map.
Definition at line 96 of file CMultiMetricMapPDF.h.
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private |
Definition at line 97 of file CMultiMetricMapPDF.h.
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static |
Definition at line 69 of file CMultiMetricMapPDF.h.
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inherited |
[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.
Definition at line 240 of file system/COutputLogger.h.
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inherited |
[Default=false] Enables storing all messages into an internal list.
Definition at line 243 of file system/COutputLogger.h.
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protectedinherited |
Definition at line 46 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 47 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 48 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 49 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.
Definition at line 282 of file CParticleFilterCapable.h.
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protectedinherited |
Provided messages with VerbosityLevel smaller than this value shall be ignored.
Definition at line 253 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().
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protectedinherited |
Used in al PF implementations.
Definition at line 53 of file PF_implementations_data.h.
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inherited |
The array of particles.
Definition at line 195 of file CParticleFilterData.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 55 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 62 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 59 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 63 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.
Definition at line 57 of file PF_implementations_data.h.
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private |
An index [0,1] measuring how much information an observation aports to the map (Typ.
threshold=0.07)
Definition at line 240 of file CMultiMetricMapPDF.h.
| mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::maps::CMultiMetricMapPDF::options |
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staticinherited |
Definition at line 192 of file CParticleFilterData.h.
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staticprotected |
Definition at line 69 of file CMultiMetricMapPDF.h.
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private |
A mapping between indexes in the SFs to indexes in the robot paths from particles.
Definition at line 103 of file CMultiMetricMapPDF.h.
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private |
The SFs and their corresponding pose estimations.
Definition at line 100 of file CMultiMetricMapPDF.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize(), getNumberOfObservationsInSimplemap(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
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