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9 #ifndef CMetricMapBuilderRBPF_H
10 #define CMetricMapBuilderRBPF_H
94 std::ostream& out)
const override;
142 std::deque<mrpt::math::TPose3D>& outPath)
const;
179 const std::string& file,
bool formatEMF_BMP =
true);
float localizeAngDistance
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
Traveled distance since last map update.
const mrpt::maps::CMultiMetricMap * getCurrentlyBuiltMetricMap() const
Returns the map built so far.
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.
bayes::CParticleFilter::TParticleFilterOptions m_PF_options
The configuration of the particle filter.
void getCurrentMostLikelyPath(std::deque< mrpt::math::TPose3D > &outPath) const
Returns the current most-likely path estimation (the path associated to the most likely particle).
bool observationsInserted
Whether the SF has been inserted in the metric maps.
void processActionObservation(mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)
Appends a new action and observations to update this map: See the description of the class at the top...
float insertionLinDistance
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
Declares a class for storing a collection of robot actions.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::system::VerbosityLevel verbosity_level
void saveCurrentPathEstimationToTextFile(const std::string &fil)
A logging utility: saves the current path estimation for each particle in a text file (a row per part...
TConstructionOptions()
Constructor.
CMetricMapBuilderRBPF()
This second constructor is created for the situation where a class member needs to be of type CMetric...
GLsizei GLsizei GLchar * source
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
TStats m_statsLastIteration
This structure will hold stats after each execution of processActionObservation.
void saveCurrentEstimationToImage(const std::string &file, bool formatEMF_BMP=true)
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This virtual class defines the interface of any object accepting drawing primitives on it.
VerbosityLevel
Enumeration of available verbosity levels.
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
Traveled distance since last localization update.
unsigned int getCurrentlyBuiltMapSize()
Returns just how many sensory-frames are stored in the currently build map.
This class allows loading and storing values and vectors of different types from a configuration text...
bayes::CParticleFilter::TParticleFilterOptions PF_options
This class stores any customizable set of metric maps.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
double getCurrentJointEntropy()
void initialize(const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr)
Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left un...
mrpt::maps::TSetOfMetricMapInitializers mapsInitializers
float localizeLinDistance
Distances (linear and angular) for updating the robot pose estimate (and particles weighs,...
mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const
Returns a copy of the current best pose estimation as a pose PDF.
float insertionLinDistance
Distances (linear and angular) for inserting a new observation into the map.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap &out_map) const
Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
void drawCurrentEstimationToImage(mrpt::img::CCanvas *img)
A useful method for debugging: draws the current map and path hypotheses to a CCanvas
mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
float localizeLinDistance
float localizeAngDistance
This structure will hold stats after each execution of processActionObservation.
The struct for passing extra simulation parameters to the prediction/update stage when running a part...
std::shared_ptr< CPose3DPDF > Ptr
GLsizei const GLchar ** string
void clear()
Clear all elements of the maps.
Options for building a CMetricMapBuilderRBPF object, passed to the constructor.
This virtual class is the base for SLAM implementations.
virtual ~CMetricMapBuilderRBPF()
Destructor.
float insertionAngDistance
mrpt::maps::CMultiMetricMapPDF mapPDF
The map PDF: It includes a path and associated map for each particle.
The configuration of a particle filter.
float insertionAngDistance
CMetricMapBuilderRBPF & operator=(const CMetricMapBuilderRBPF &src)
Copy Operator.
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