MRPT  1.9.9
CPose3DPDFParticles.h
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3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
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8  +------------------------------------------------------------------------+ */
9 #ifndef CPose3DPDFParticles_H
10 #define CPose3DPDFParticles_H
11 
12 #include <mrpt/poses/CPose3DPDF.h>
15 
16 namespace mrpt::poses
17 {
18 /** Declares a class that represents a Probability Density function (PDF) of a
19  * 3D pose
20  *
21  * This class is also the base for the implementation of Monte-Carlo
22  * Localization (MCL), in mrpt::slam::CMonteCarloLocalization2D.
23  *
24  * See the application "app/pf-localization" for an example of usage.
25  *
26  * \sa CPose3D, CPose3DPDF, CPoseGaussianPDF
27  * \ingroup poses_pdf_grp
28  */
30  : public CPose3DPDF,
32  mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE>,
34  CPose3DPDFParticles,
35  mrpt::bayes::CParticleFilterData<
36  mrpt::math::TPose3D,
37  mrpt::bayes::particle_storage_mode::VALUE>::CParticleList>
38 {
40 
41  public:
42  /** Constructor
43  * \param M The number of m_particles.
44  */
45  CPose3DPDFParticles(size_t M = 1);
46 
47  /** Copy operator, translating if necesary (for example, between m_particles
48  * and gaussian representations) */
49  void copyFrom(const CPose3DPDF& o) override;
50 
51  /** Reset the PDF to a single point: All m_particles will be set exactly to
52  * the supplied pose.
53  * \param location The location to set all the m_particles.
54  * \param particlesCount If this is set to 0 the number of m_particles
55  * remains unchanged.
56  * \sa resetUniform, resetUniformFreeSpace */
57  void resetDeterministic(
58  const mrpt::math::TPose3D& location, size_t particlesCount = 0);
59 
60  /** Returns an estimate of the pose, (the mean, or mathematical expectation
61  * of the PDF), computed as a weighted average over all m_particles. \sa
62  * getCovariance */
63  void getMean(CPose3D& mean_pose) const override;
64  /** Returns an estimate of the pose covariance matrix (6x6 cov matrix) and
65  * the mean, both at once. \sa getMean */
67  mrpt::math::CMatrixDouble66& cov, CPose3D& mean_point) const override;
68 
69  /** Returns the pose of the i'th particle */
71 
72  /** Save PDF's m_particles to a text file. In each line it will go: "x y z"
73  */
74  bool saveToTextFile(const std::string& file) const override;
75 
76  /** Get the m_particles count (equivalent to "particlesCount") */
77  size_t size() const { return m_particles.size(); }
78  /** this = p (+) this. This can be used to convert a PDF from local
79  * coordinates to global, providing the point (newReferenceBase) from which
80  * "to project" the current pdf. Result PDF substituted the currently
81  * stored one in the object. */
82  void changeCoordinatesReference(const CPose3D& newReferenceBase) override;
83  /** Draws a single sample from the distribution (WARNING: weights are
84  * assumed to be normalized!) */
85  void drawSingleSample(CPose3D& outPart) const override;
86  /** Draws a number of samples from the distribution, and saves as a list of
87  * 1x6 vectors, where each row contains a (x,y,phi) datum. */
88  void drawManySamples(
89  size_t N,
90  std::vector<mrpt::math::CVectorDouble>& outSamples) const override;
91  /** Appends (pose-composition) a given pose "p" to each particle */
92  void operator+=(const CPose3D& Ap);
93  /** Appends (add to the list) a set of m_particles to the existing ones, and
94  * then normalize weights. */
95  void append(CPose3DPDFParticles& o);
96  /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
97  void inverse(CPose3DPDF& o) const override;
98  /** Returns the particle with the highest weight. */
100  /** Bayesian fusion */
101  void bayesianFusion(const CPose3DPDF& p1, const CPose3DPDF& p2) override;
102 
103 }; // End of class def.
104 }
105 #endif
106 
107 
void getCovarianceAndMean(mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const override
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once...
bool saveToTextFile(const std::string &file) const override
Save PDF&#39;s m_particles to a text file.
mrpt::math::TPose3D getMostLikelyParticle() const
Returns the particle with the highest weight.
GLint location
Definition: glext.h:4086
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.
void append(CPose3DPDFParticles &o)
Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights...
void getMean(CPose3D &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
A numeric matrix of compile-time fixed size.
void operator+=(const CPose3D &Ap)
Appends (pose-composition) a given pose "p" to each particle.
CPose3DPDFParticles(size_t M=1)
Constructor.
size_t size() const
Get the m_particles count (equivalent to "particlesCount")
GLsizei const GLchar ** string
Definition: glext.h:4101
This template class declares the array of particles and its internal data, managing some memory-relat...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
void copyFrom(const CPose3DPDF &o) override
Copy operator, translating if necesary (for example, between m_particles and gaussian representations...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void drawSingleSample(CPose3D &outPart) const override
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) ...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:86
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) override
Bayesian fusion.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample...
Definition: ops_matrices.h:148
void resetDeterministic(const mrpt::math::TPose3D &location, size_t particlesCount=0)
Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose...
void inverse(CPose3DPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
mrpt::math::TPose3D getParticlePose(int i) const
Returns the pose of the i&#39;th particle.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...
Definition: CPose3DPDF.h:40
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
A curiously recurring template pattern (CRTP) approach to providing the basic functionality of any CP...



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