MRPT
1.9.9
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A probability distribution of a 2D/3D point, represented as a set of random samples (particles).
Definition at line 25 of file CPointPDFParticles.h.
#include <mrpt/poses/CPointPDFParticles.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
using | type_value = CPoint3D |
The type of the state the PDF represents. More... | |
using | self_t = CProbabilityDensityFunction< CPoint3D, STATE_LEN > |
using | CParticleDataContent = mrpt::math::TPoint3Df |
This is the type inside the corresponding CParticleData class. More... | |
using | CParticleData = CProbabilityParticle< mrpt::math::TPoint3Df, 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 | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CPointPDFParticles (size_t numParticles=1) | |
Default constructor. More... | |
void | clear () |
Clear all the particles (free memory) More... | |
void | setSize (size_t numberParticles, const mrpt::math::TPoint3Df &defaultValue=mrpt::math::TPoint3Df{0, 0, 0}) |
Erase all the previous particles and change the number of particles, with a given initial value. More... | |
size_t | size () const |
Returns the number of particles. More... | |
void | getMean (CPoint3D &mean_point) const override |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPoint3D &mean_point) const override |
Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. More... | |
void | copyFrom (const CPointPDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
bool | saveToTextFile (const std::string &file) const override |
Save PDF's particles to a text file, where each line is: X Y Z LOG_W. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
double | computeKurtosis () |
Compute the kurtosis of the distribution. More... | |
void | drawSingleSample (CPoint3D &outSample) const override |
Draw a sample from the pdf. More... | |
void | bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More... | |
template<class OPENGL_SETOFOBJECTSPTR > | |
void | getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More... | |
template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > | |
OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
Returns a 3D representation of this PDF. 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... | |
virtual void | getMean (CPoint3D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint3D &mean_point) const=0 |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint3D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPoint3D | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
void | getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
virtual bool | isInfType () const |
Returns whether the class instance holds the uncertainty in covariance or information form. More... | |
virtual void | getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More... | |
virtual void | drawSingleSample (CPoint3D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
virtual void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. 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 CPointPDFParticles & | derived () const |
CRTP helper method. More... | |
CPointPDFParticles & | 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... | |
RTTI classes and functions for polymorphic hierarchies | |
mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static constexpr bool | is_3D () |
static constexpr bool | is_PDF () |
static double | defaultEvaluator (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, 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... | |
Public Attributes | |
CParticleList | m_particles |
The array of particles. More... | |
Static Public Attributes | |
static constexpr size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More... | |
static const particle_storage_mode | PARTICLE_STORAGE |
Protected Member Functions | |
virtual void | prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
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... | |
virtual void | prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
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... | |
virtual void | prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
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... | |
virtual void | prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
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... | |
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... | |
Protected Attributes | |
TFastDrawAuxVars | m_fastDrawAuxiliary |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPointPDFParticles > |
using | ConstPtr = std::shared_ptr< const CPointPDFParticles > |
using | UniquePtr = std::unique_ptr< CPointPDFParticles > |
using | ConstUniquePtr = std::unique_ptr< const CPointPDFParticles > |
static mrpt::rtti::CLASSINIT | _init_CPointPDFParticles |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPointPDFParticles" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::rtti::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (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... | |
Definition at line 32 of file CPointPDFParticles.h.
using mrpt::poses::CPointPDFParticles::ConstUniquePtr = std::unique_ptr<const CPointPDFParticles > |
Definition at line 32 of file CPointPDFParticles.h.
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inherited |
Use this to refer to each element in the m_particles array.
Definition at line 210 of file CParticleFilterData.h.
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inherited |
This is the type inside the corresponding CParticleData class.
Definition at line 208 of file CParticleFilterData.h.
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inherited |
Use this type to refer to the list of particles m_particles.
Definition at line 212 of file CParticleFilterData.h.
A type for the associated smart pointer
Definition at line 32 of file CPointPDFParticles.h.
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inherited |
Definition at line 34 of file CProbabilityDensityFunction.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.
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inherited |
The type of the state the PDF represents.
Definition at line 33 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPointPDFParticles::UniquePtr = std::unique_ptr< CPointPDFParticles > |
Definition at line 32 of file CPointPDFParticles.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 65 of file CPointPDF.h.
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inherited |
Enumerator | |
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is_PDF_val |
Definition at line 70 of file CPointPDF.h.
CPointPDFParticles::CPointPDFParticles | ( | size_t | numParticles = 1 | ) |
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staticprotected |
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overridevirtual |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)
p1 | The first distribution to fuse |
p2 | The second distribution to fuse |
minMahalanobisDistToDrop | If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. |
Implements mrpt::poses::CPointPDF.
Definition at line 280 of file CPointPDFParticles.cpp.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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overridevirtual |
this = p (+) this.
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object. Both the mean value and the covariance matrix are updated correctly.
Implements mrpt::poses::CPointPDF.
Definition at line 196 of file CPointPDFParticles.cpp.
References mrpt::poses::CPose3D::composePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
void CPointPDFParticles::clear | ( | ) |
Clear all the particles (free memory)
Definition at line 32 of file CPointPDFParticles.cpp.
References setSize().
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
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inlineinherited |
Free the memory of all the particles and reset the array "m_particles" to length zero.
Definition at line 222 of file CParticleFilterData.h.
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
double CPointPDFParticles::computeKurtosis | ( | ) |
Compute the kurtosis of the distribution.
Definition at line 216 of file CPointPDFParticles.cpp.
References mrpt::math::maximum(), MRPT_END, MRPT_START, and mrpt::square().
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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.
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPointPDF.
Definition at line 164 of file CPointPDFParticles.cpp.
References THROW_EXCEPTION.
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inlinestatic |
Definition at line 32 of file CPointPDFParticles.h.
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static |
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inlinestatic |
Definition at line 32 of file CPointPDFParticles.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.
References MRPT_UNUSED_PARAM.
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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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inlinevirtualinherited |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.
Definition at line 152 of file CProbabilityDensityFunction.h.
Draw a sample from the pdf.
Definition at line 271 of file CPointPDFParticles.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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pure virtualinherited |
Draws a single sample from the distribution.
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inlineinherited |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Definition at line 168 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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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 86 of file CParticleFilterData.h.
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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 489 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().
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inlineinherited |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)
Definition at line 84 of file CPointPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 95 of file CPointPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlinestatic |
Definition at line 32 of file CPointPDFParticles.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 78 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 88 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 101 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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override |
Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.
Definition at line 85 of file CPointPDFParticles.cpp.
References mrpt::math::cov(), mean(), MRPT_END, MRPT_START, and mrpt::square().
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 54 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 168 of file CProbabilityDensityFunction.h.
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inlinevirtualinherited |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
Definition at line 124 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)
Definition at line 53 of file CPointPDFParticles.cpp.
References ASSERT_, MRPT_END, MRPT_START, and THROW_EXCEPTION.
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 67 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the particle with the highest weight.
Definition at line 290 of file CParticleFilterData.h.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPointPDF.
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static |
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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.
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inlineinherited |
Returns a vector with the sequence of the logaritmic weights of all the samples.
Definition at line 276 of file CParticleFilterData.h.
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inlinestaticinherited |
Definition at line 69 of file CPointPDF.h.
References mrpt::poses::CPointPDF::is_3D_val.
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inlinestaticinherited |
Definition at line 74 of file CPointPDF.h.
References mrpt::poses::CPointPDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Definition at line 117 of file CProbabilityDensityFunction.h.
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staticinherited |
A static method to compute the linear, normalized (the sum the unity) weights from log-weights.
Definition at line 555 of file CParticleFilterCapable.cpp.
References ASSERT_, MRPT_END, and MRPT_START.
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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.
Definition at line 32 of file CPointPDFParticles.h.
Definition at line 32 of file CPointPDFParticles.h.
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inlinenoexcept |
Definition at line 32 of file CPointPDFParticles.h.
Definition at line 32 of file CPointPDFParticles.h.
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inline |
Definition at line 32 of file CPointPDFParticles.h.
Definition at line 32 of file CPointPDFParticles.h.
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inlinenoexcept |
Definition at line 32 of file CPointPDFParticles.h.
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inline |
Definition at line 32 of file CPointPDFParticles.h.
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inlineoverridevirtualinherited |
Get the m_particles count.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 54 of file CParticleFilterData.h.
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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.
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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 113 of file CParticleFilterData.h.
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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 277 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.
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protectedvirtualinherited |
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 in mrpt::hmtslam::CLocalMetricHypothesis, mrpt::slam::CMonteCarloLocalization2D, mrpt::slam::CMonteCarloLocalization3D, and mrpt::maps::CMultiMetricMapPDF.
Definition at line 355 of file CParticleFilterCapable.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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protectedvirtualinherited |
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 in mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.
Definition at line 326 of file CParticleFilterCapable.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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protectedvirtualinherited |
Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.
Definition at line 341 of file CParticleFilterCapable.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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protectedvirtualinherited |
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 in CRangeBearingParticleFilter, mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.
Definition at line 311 of file CParticleFilterCapable.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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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 371 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().
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inlineinherited |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
Definition at line 249 of file CParticleFilterData.h.
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overridevirtual |
Save PDF's particles to a text file, where each line is: X Y Z LOG_W.
Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.
Definition at line 175 of file CPointPDFParticles.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), MRPT_END, and MRPT_START.
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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 143 of file CPointPDFParticles.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and setSize().
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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 132 of file CPointPDFParticles.cpp.
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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 133 of file CPointPDFParticles.cpp.
void CPointPDFParticles::setSize | ( | size_t | numberParticles, |
const mrpt::math::TPoint3Df & | defaultValue = mrpt::math::TPoint3Df{0, 0, 0} |
||
) |
Erase all the previous particles and change the number of particles, with a given initial value.
Definition at line 36 of file CPointPDFParticles.cpp.
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
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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.
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inline |
Returns the number of particles.
Definition at line 49 of file CPointPDFParticles.h.
References mrpt::bayes::CParticleFilterData< mrpt::math::TPoint3Df >::m_particles.
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inlineinherited |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
Definition at line 228 of file CParticleFilterData.h.
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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 68 of file CSerializable.h.
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staticprotected |
Definition at line 32 of file CPointPDFParticles.h.
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static |
Definition at line 32 of file CPointPDFParticles.h.
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mutableprotectedinherited |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.
Definition at line 291 of file CParticleFilterCapable.h.
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inherited |
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staticinherited |
Definition at line 213 of file CParticleFilterData.h.
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staticprotected |
Definition at line 32 of file CPointPDFParticles.h.
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staticinherited |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
Definition at line 31 of file CProbabilityDensityFunction.h.
Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().
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