9 #ifndef CRangeBearingKFSLAM_H 10 #define CRangeBearingKFSLAM_H 95 std::vector<mrpt::math::TPoint3D>& out_landmarksPositions,
96 std::map<unsigned int, mrpt::maps::CLandmark::TLandmarkID>&
115 std::vector<mrpt::math::TPoint3D>& out_landmarksPositions,
116 std::map<unsigned int, mrpt::maps::CLandmark::TLandmarkID>&
124 q, out_landmarksPositions, out_landmarkIDs, out_fullState,
175 std::ostream& out)
const override;
280 std::vector<std::vector<uint32_t>>& landmarksMembership)
const;
287 size_t K, std::vector<std::vector<uint32_t>>& landmarksMembership);
294 const std::vector<std::vector<uint32_t>>& landmarksMembership)
const;
342 bool& out_skipPrediction)
const;
385 const std::vector<size_t>& in_lm_indices_in_S,
389 const std::vector<size_t>& idx_landmarks_to_predict,
402 const size_t& idx_landmark_to_predict,
KFMatrix_OxV& Hx,
435 std::vector<size_t>& out_LM_indices_to_predict)
const;
472 const size_t in_obsIdx,
const size_t in_idxNewFeat);
mrpt::math::CMatrixFixedNumeric< double, OBS_SIZE, VEH_SIZE > KFMatrix_OxV
void getCurrentRobotPose(mrpt::poses::CPose3DQuatPDFGaussian &out_robotPose) const
Returns the mean & the 7x7 covariance matrix of the robot 6D pose (with rotation as a quaternion)...
TOptions options
Algorithm parameters.
An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose...
void reset()
Reset the state of the SLAM filter: The map is emptied and the robot put back to (0,0,0).
mrpt::poses::CPose3DQuat getIncrementFromOdometry() const
Return the last odometry, as a pose increment.
void OnObservationJacobians(const size_t &idx_landmark_to_predict, KFMatrix_OxV &Hx, KFMatrix_OxF &Hy) const
Implements the observation Jacobians and (when applicable) .
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void getLastPartitionLandmarks(std::vector< std::vector< uint32_t >> &landmarksMembership) const
Return the partitioning of the landmarks in clusters accoring to the last partition.
bool force_ignore_odometry
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false) ...
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
void reconsiderPartitionsNow()
The partitioning of the entire map is recomputed again.
mrpt::math::CArrayNumeric< double, VEH_SIZE > KFArray_VEH
GLdouble GLdouble GLdouble GLdouble q
void processActionObservation(mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &SF)
Process one new action and observations to update the map and robot pose estimate.
void OnNormalizeStateVector()
This method is called after the prediction and after the update, to give the user an opportunity to n...
std::map< size_t, size_t > newly_inserted_landmarks
Map from the 0-based index within the last observation and the landmark 0-based index in the map (the...
void OnPreComputingPredictions(const vector_KFArray_OBS &in_all_prediction_means, std::vector< size_t > &out_LM_indices_to_predict) const
This will be called before OnGetObservationsAndDataAssociation to allow the application to reduce the...
mrpt::math::CMatrixTemplateNumeric< double > KFMatrix
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
void saveMapAndPath2DRepresentationAsMATLABFile(const std::string &fil, float stdCount=3.0f, const std::string &styleLandmarks=std::string("b"), const std::string &stylePath=std::string("r"), const std::string &styleRobot=std::string("r")) const
Save the current state of the filter (robot pose & map) to a MATLAB script which displays all the ele...
void OnGetAction(KFArray_ACT &out_u) const
Must return the action vector u.
void OnTransitionJacobian(KFMatrix_VxV &out_F) const
Implements the transition Jacobian .
mrpt::poses::CPose3DQuat getCurrentRobotPoseMean() const
Get the current robot pose mean, as a 3D+quaternion pose.
TDataAssocInfo m_last_data_association
Last data association.
float std_odo_z_additional
Additional std.
mrpt::containers::bimap< mrpt::maps::CLandmark::TLandmarkID, unsigned int > m_IDs
The mapping between landmark IDs and indexes in the Pkk cov.
void OnNewLandmarkAddedToMap(const size_t in_obsIdx, const size_t in_idxNewFeat)
If applicable to the given problem, do here any special handling of adding a new landmark to the map...
mrpt::math::CMatrixTemplateNumeric< kftype > Y_pred_means
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
mrpt::math::CArrayNumeric< double, FEAT_SIZE > KFArray_FEAT
Configuration parameters.
CIncrementalMapPartitioner::TOptions * mapPartitionOptions()
Provides access to the parameters of the map partitioning algorithm.
mrpt::math::CMatrixFixedNumeric< double, VEH_SIZE, VEH_SIZE > KFMatrix_VxV
void OnTransitionNoise(KFMatrix_VxV &out_Q) const
Implements the transition noise covariance .
This class allows loading and storing values and vectors of different types from a configuration text...
TDataAssociationMetric data_assoc_metric
mrpt::math::CArrayNumeric< double, OBS_SIZE > KFArray_OBS
int partitioningMethod
Applicable only if "doPartitioningExperiment=true".
TDataAssociationMetric
Different metrics for data association, used in mrpt::slam::data_association For a comparison of both...
TOptions()
Default values.
void OnSubstractObservationVectors(KFArray_OBS &A, const KFArray_OBS &B) const
Computes A=A-B, which may need to be re-implemented depending on the topology of the individual scala...
void getCurrentRobotPose(mrpt::poses::CPose3DPDFGaussian &out_robotPose) const
Returns the mean & the 6x6 covariance matrix of the robot 6D pose (with rotation as 3 angles)...
Virtual base for Kalman Filter (EKF,IEKF,UKF) implementations.
CIncrementalMapPartitioner mapPartitioner
Used for map partitioning experiments.
TDataAssociationMetric data_assoc_IC_metric
Whether to use mahalanobis (->chi2 criterion) vs.
double computeOffDiagonalBlocksApproximationError(const std::vector< std::vector< uint32_t >> &landmarksMembership) const
Computes the ratio of the missing information matrix elements which are ignored under a certain parti...
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
mrpt::math::CMatrixFixedNumeric< double, OBS_SIZE, OBS_SIZE > KFMatrix_OxO
mrpt::maps::CSimpleMap m_SFs
The sequence of all the observations and the robot path (kept for debugging, statistics,etc)
GLsizei const GLchar ** string
double data_assoc_IC_ml_threshold
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
std::vector< std::vector< uint32_t > > m_lastPartitionSet
mrpt::aligned_std_vector< KFArray_OBS > vector_KFArray_OBS
void loadOptions(const mrpt::config::CConfigFileBase &ini)
Load options from a ini-like file/text.
mrpt::math::CArrayNumeric< double, ACT_SIZE > KFArray_ACT
void OnGetObservationNoise(KFMatrix_OxO &out_R) const
Return the observation NOISE covariance matrix, that is, the model of the Gaussian additive noise of ...
void OnGetObservationsAndDataAssociation(vector_KFArray_OBS &out_z, std::vector< int > &out_data_association, const vector_KFArray_OBS &in_all_predictions, const KFMatrix &in_S, const std::vector< size_t > &in_lm_indices_in_S, const KFMatrix_OxO &in_R)
This is called between the KF prediction step and the update step, and the application must return th...
void getCurrentState(mrpt::poses::CPose3DPDFGaussian &out_robotPose, std::vector< mrpt::math::TPoint3D > &out_landmarksPositions, std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID > &out_landmarkIDs, mrpt::math::CVectorDouble &out_fullState, mrpt::math::CMatrixDouble &out_fullCovariance) const
Returns the complete mean and cov.
std::vector< size_t > predictions_IDs
void OnObservationModel(const std::vector< size_t > &idx_landmarks_to_predict, vector_KFArray_OBS &out_predictions) const
Finds partitions in metric maps based on N-cut graph partition theory.
mrpt::obs::CSensoryFrame::Ptr m_SF
Set up by processActionObservation.
void getCurrentState(mrpt::poses::CPose3DQuatPDFGaussian &out_robotPose, std::vector< mrpt::math::TPoint3D > &out_landmarksPositions, std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID > &out_landmarkIDs, mrpt::math::CVectorDouble &out_fullState, mrpt::math::CMatrixDouble &out_fullCovariance) const
Returns the complete mean and cov.
mrpt::slam::CRangeBearingKFSLAM::TOptions options
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
mrpt::math::CMatrixFixedNumeric< double, FEAT_SIZE, VEH_SIZE > KFMatrix_FxV
float quantiles_3D_representation
Default = 3.
void getLastPartitionLandmarksAsIfFixedSubmaps(size_t K, std::vector< std::vector< uint32_t >> &landmarksMembership)
For testing only: returns the partitioning as "getLastPartitionLandmarks" but as if a fixed-size subm...
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.
void OnTransitionModel(const KFArray_ACT &in_u, KFArray_VEH &inout_x, bool &out_skipPrediction) const
Implements the transition model .
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const
Returns a 3D representation of the landmarks in the map and the robot 3D position according to the cu...
GLsizei GLsizei GLchar * source
mrpt::math::CMatrixFixedNumeric< double, OBS_SIZE, FEAT_SIZE > KFMatrix_OxF
const TDataAssocInfo & getLastDataAssociation() const
Returns a read-only reference to the information on the last data-association.
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
Information for data-association:
void OnInverseObservationModel(const KFArray_OBS &in_z, KFArray_FEAT &out_yn, KFMatrix_FxV &out_dyn_dxv, KFMatrix_FxO &out_dyn_dhn) const
If applicable to the given problem, this method implements the inverse observation model needed to ex...
CRangeBearingKFSLAM()
Constructor.
bool create_simplemap
Whether to fill m_SFs (default=false)
TDataAssociationMethod data_assoc_method
bool doPartitioningExperiment
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod...
TDataAssociationResults results
The results from mrpt::slam::data_association.
The options for the algorithm.
mrpt::math::CMatrixTemplateNumeric< kftype > Y_pred_covs
mrpt::obs::CActionCollection::Ptr m_action
Set up by processActionObservation.
TDataAssociationMethod
Different algorithms for data association, used in mrpt::slam::data_association.
virtual ~CRangeBearingKFSLAM()
Destructor:
float std_sensor_range
The std.
double data_assoc_IC_chi2_thres
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and obser...
mrpt::math::CMatrixFixedNumeric< double, FEAT_SIZE, OBS_SIZE > KFMatrix_FxO
void getLastPartition(std::vector< std::vector< uint32_t >> &parts)
Return the last partition of the sequence of sensoryframes (it is NOT a partition of the map!!) Only ...
mrpt::math::CVectorFloat stds_Q_no_odo
A 7-length vector with the std.