Main MRPT website > C++ reference for MRPT 1.5.5
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | Friends
mrpt::hmtslam::CLocalMetricHypothesis Class Reference

Detailed Description

This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs).

It has a set of particles representing the robot path in nearby poses.

See Also
CHMTSLAM, CLSLAM_RBPF_2DLASER

Definition at line 64 of file CLocalMetricHypothesis.h.

#include <mrpt/hmtslam/CLocalMetricHypothesis.h>

Inheritance diagram for mrpt::hmtslam::CLocalMetricHypothesis:
Inheritance graph

Classes

struct  TRobotPosesPartitioning
 Used by AA thread. More...
 

Public Types

typedef CLSLAMParticleData CParticleDataContent
 This is the type inside the corresponding CParticleData class. More...
 
typedef CProbabilityParticle
< CLSLAMParticleData
CParticleData
 Use this to refer to each element in the m_particles array. More...
 
typedef std::deque< CParticleDataCParticleList
 Use this type to refer to the list of particles m_particles. More...
 
typedef double(* TParticleProbabilityEvaluator )(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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CLocalMetricHypothesis (CHMTSLAM *parent=NULL)
 Constructor (Default param only used from STL classes) More...
 
 ~CLocalMetricHypothesis ()
 Destructor. More...
 
void getAs3DScene (mrpt::opengl::CSetOfObjectsPtr &objs) const
 Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. More...
 
void getMeans (TMapPoseID2Pose3D &outList) const
 Returns the mean of each robot pose in this LMH, as computed from the set of particles. More...
 
void getPathParticles (std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > &outList) const
 Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More...
 
void getPoseParticles (const TPoseID &poseID, mrpt::poses::CPose3DPDFParticles &outPDF) const
 Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More...
 
void getRelativePose (const TPoseID &reference, const TPoseID &pose, mrpt::poses::CPose3DPDFParticles &outPDF) const
 Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). More...
 
void dumpAsText (utils::CStringList &st) const
 Describes the LMH in text. More...
 
void changeCoordinateOrigin (const TPoseID &newOrigin)
 Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. More...
 
void rebuildMetricMaps ()
 Rebuild the metric maps of all particles from the observations and their estimated poses. More...
 
void clearRobotPoses ()
 Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. More...
 
const mrpt::poses::CPose3DgetCurrentPose (const size_t &particleIdx) const
 Returns the i'th particle hypothesis for the current robot pose. More...
 
mrpt::poses::CPose3DgetCurrentPose (const size_t &particleIdx)
 Returns the i'th particle hypothesis for the current robot pose. More...
 
void removeAreaFromLMH (const CHMHMapNode::TNodeID areaID)
 Removes a given area from the LMH: More...
 
void updateAreaFromLMH (const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false)
 The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. 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 CParticleDatagetMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
const CLocalMetricHypothesisderived () const
 CRTP helper method. More...
 
CLocalMetricHypothesisderived ()
 CRTP helper method. More...
 
double getW (size_t i) const MRPT_OVERRIDE
 Access to i'th particle (logarithm) weight, where first one is index 0. More...
 
void setW (size_t i, double w) MRPT_OVERRIDE
 Modifies i'th particle (logarithm) weight, where first one is index 0. More...
 
size_t particlesCount () const MRPT_OVERRIDE
 Get the m_particles count. More...
 
double normalizeWeights (double *out_max_log_w=NULL) MRPT_OVERRIDE
 Normalize the (logarithmic) weights, such as the maximum weight is zero. More...
 
double ESS () const MRPT_OVERRIDE
 Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...
 
void performSubstitution (const std::vector< size_t > &indx) MRPT_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=NULL, const void *observation=NULL) 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...
 
virtual mxArraywriteToMatlab () 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...
 
mrpt::utils::CObjectPtr 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
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

synch::CCriticalSection m_lock
 Critical section for threads signaling they are working with the LMH. More...
 
THypothesisID m_ID
 The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). More...
 
mrpt::utils::safe_ptr< CHMTSLAMm_parent
 For quick access to our parent object. More...
 
TPoseID m_currentRobotPose
 The current robot pose (its global unique ID) for this hypothesis. More...
 
TNodeIDSet m_neighbors
 The list of all areas sourronding the current one (this includes the current area itself). More...
 
std::map< TPoseID,
CHMHMapNode::TNodeID
m_nodeIDmemberships
 The hybrid map node membership for each robot pose. More...
 
std::map< TPoseID,
mrpt::obs::CSensoryFrame
m_SFs
 The SF gathered at each robot pose. More...
 
TPoseIDList m_posesPendingAddPartitioner
 The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. More...
 
TNodeIDList m_areasPendingTBI
 The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in CHMTSLAM::LSLAM_process_message_from_AA, read in. More...
 
double m_log_w
 Log-weight of this hypothesis. More...
 
std::vector< std::map< TPoseID,
double > > 
m_log_w_metric_history
 The historic log-weights of the metric observations inserted in this LMH, for each particle. More...
 
mrpt::obs::CActionRobotMovement2D m_accumRobotMovement
 Used in CLSLAM_RBPF_2DLASER. More...
 
bool m_accumRobotMovementIsValid
 Used in CLSLAM_RBPF_2DLASER. More...
 
struct
mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning 
m_robotPosesGraph
 
CParticleList m_particles
 The array of particles. More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

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...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 
Virtual methods for Particle Filter implementation (just a wrapper interface, actually implemented in CHMTSLAM::m_LSLAM_method)
void prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) MRPT_OVERRIDE
 The PF algorithm implementation. More...
 
void prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) MRPT_OVERRIDE
 The PF algorithm implementation. More...
 

Protected Attributes

mrpt::math::CVectorDouble m_pfAuxiliaryPFOptimal_estimatedProb
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< double > m_maxLikelihood
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
mrpt::poses::StdVector_CPose2D m_movementDraws
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
unsigned int m_movementDrawsIdx
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
mrpt::poses::StdVector_CPose2D m_movementDrawMaximumLikelihood
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
TFastDrawAuxVars m_fastDrawAuxiliary
 Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...
 

Friends

class HMTSLAM_IMPEXP CLSLAM_RBPF_2DLASER
 

RTTI stuff

typedef CLocalMetricHypothesisPtr Ptr
 
typedef CLocalMetricHypothesisPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CLocalMetricHypothesis
 
static mrpt::utils::TRuntimeClassId classCLocalMetricHypothesis
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CLocalMetricHypothesisPtr Create ()
 

Member Typedef Documentation

typedef CLocalMetricHypothesisPtr mrpt::hmtslam::CLocalMetricHypothesis::ConstPtr

Definition at line 72 of file CLocalMetricHypothesis.h.

Use this to refer to each element in the m_particles array.

Definition at line 174 of file CParticleFilterData.h.

This is the type inside the corresponding CParticleData class.

Definition at line 173 of file CParticleFilterData.h.

Use this type to refer to the list of particles m_particles.

Definition at line 175 of file CParticleFilterData.h.

typedef CLocalMetricHypothesisPtr mrpt::hmtslam::CLocalMetricHypothesis::Ptr

A typedef for the associated smart pointer

Definition at line 72 of file CLocalMetricHypothesis.h.

typedef double( * mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator)(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
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.

Parameters
indexThis is the index of the particle its probability is being computed.
actionThe value of this is the parameter passed to "prepareFastDrawSample"
observationThe value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility.
See Also
prepareFastDrawSample

Definition at line 54 of file CParticleFilterCapable.h.

Constructor & Destructor Documentation

CLocalMetricHypothesis::CLocalMetricHypothesis ( CHMTSLAM parent = NULL)

Constructor (Default param only used from STL classes)

Definition at line 45 of file CLocalMetricHypothesis.cpp.

CLocalMetricHypothesis::~CLocalMetricHypothesis ( )

Destructor.

Definition at line 59 of file CLocalMetricHypothesis.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass ( )
staticprotected
void CLocalMetricHypothesis::changeCoordinateOrigin ( const TPoseID newOrigin)

Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well.

Definition at line 544 of file CLocalMetricHypothesis.cpp.

References ASSERT_, CLASS_ID, and mrpt::maps::CSimpleMap::get().

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::clearParticles ( )
inlineinherited

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 183 of file CParticleFilterData.h.

void CLocalMetricHypothesis::clearRobotPoses ( )

Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses.

Sets the number of particles to the initial number according to the PF options, and initialize them with no robot poses & empty metric maps.

Definition at line 471 of file CLocalMetricHypothesis.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap().

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CParticleFilterCapable::computeResampling ( CParticleFilter::TParticleResamplingAlgorithm  method,
const std::vector< double > &  in_logWeights,
std::vector< size_t > &  out_indexes,
size_t  out_particle_count = 0 
)
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

Parameters
[in]out_particle_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See Also
performResampling

Definition at line 64 of file CParticleFilterCapable.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), int(), mrpt::math::maximum(), MRPT_END, MRPT_START, R, mrpt::random::randomGenerator, and THROW_EXCEPTION.

static CLocalMetricHypothesisPtr mrpt::hmtslam::CLocalMetricHypothesis::Create ( )
static
static mrpt::utils::CObject* mrpt::hmtslam::CLocalMetricHypothesis::CreateObject ( )
static
static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  index,
const void action,
const void observation 
)
inlinestaticinherited

The default evaluator function, which simply returns the particle weight.

The action and the observation are declared as "void*" for a greater flexibility.

See Also
prepareFastDrawSample

Definition at line 65 of file CParticleFilterCapable.h.

References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

CRTP helper method.

Definition at line 36 of file CParticleFilterData.h.

void CLocalMetricHypothesis::dumpAsText ( utils::CStringList st) const

Describes the LMH in text.

Definition at line 855 of file CLocalMetricHypothesis.cpp.

References mrpt::utils::CStringList::clear(), mrpt::format(), and RAD2DEG.

virtual mrpt::utils::CObject* mrpt::hmtslam::CLocalMetricHypothesis::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

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 78 of file CParticleFilterData.h.

size_t CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options) const
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:

  • You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
  • This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
  • You do not need to call "normalizeWeights" before calling this.
    See Also
    prepareFastDrawSample

Definition at line 454 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::random::randomGenerator, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

void CLocalMetricHypothesis::getAs3DScene ( mrpt::opengl::CSetOfObjectsPtr &  objs) const
const CPose3D * CLocalMetricHypothesis::getCurrentPose ( const size_t &  particleIdx) const
CPose3D * CLocalMetricHypothesis::getCurrentPose ( const size_t &  particleIdx)

Returns the i'th particle hypothesis for the current robot pose.

Definition at line 501 of file CLocalMetricHypothesis.cpp.

References ASSERT_, and THROW_EXCEPTION.

void CLocalMetricHypothesis::getMeans ( TMapPoseID2Pose3D outList) const

Returns the mean of each robot pose in this LMH, as computed from the set of particles.

See Also
getPathParticles, getRelativePose

Definition at line 394 of file CLocalMetricHypothesis.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

const CParticleData* mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::getMostLikelyParticle ( ) const
inlineinherited

Returns the particle with the highest weight.

Definition at line 240 of file CParticleFilterData.h.

void CLocalMetricHypothesis::getPathParticles ( std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > &  outList) const

Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.

See Also
getMeans, getPoseParticles

Definition at line 416 of file CLocalMetricHypothesis.cpp.

References MRPT_END, and MRPT_START.

void CLocalMetricHypothesis::getPoseParticles ( const TPoseID poseID,
mrpt::poses::CPose3DPDFParticles outPDF 
) const

Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.

See Also
getMeans, getPathParticles

Definition at line 447 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::poses::CPose3D::size().

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::hmtslam::CHMTSLAM::perform_TLC().

void CLocalMetricHypothesis::getRelativePose ( const TPoseID reference,
const TPoseID pose,
mrpt::poses::CPose3DPDFParticles outPDF 
) const

Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH).

See Also
getMeans, getPoseParticles

Definition at line 513 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::poses::CPose3D::size().

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Access to i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 38 of file CParticleFilterData.h.

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::getWeights ( std::vector< double > &  out_logWeights) const
inlineinherited

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 227 of file CParticleFilterData.h.

void CParticleFilterCapable::log2linearWeights ( const std::vector< double > &  in_logWeights,
std::vector< double > &  out_linWeights 
)
staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See Also
performResampling

Definition at line 509 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

double mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::normalizeWeights ( double *  out_max_log_w = NULL)
inlinevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters
out_max_log_wIf provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w.
Returns
The max/min ratio of weights ("dynamic range")

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 55 of file CParticleFilterData.h.

void mrpt::hmtslam::CLocalMetricHypothesis::operator delete ( void ptr)
throw (
)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

void mrpt::hmtslam::CLocalMetricHypothesis::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

void mrpt::hmtslam::CLocalMetricHypothesis::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

void mrpt::hmtslam::CLocalMetricHypothesis::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

static void* mrpt::hmtslam::CLocalMetricHypothesis::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 72 of file CLocalMetricHypothesis.h.

void* mrpt::hmtslam::CLocalMetricHypothesis::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

void* mrpt::hmtslam::CLocalMetricHypothesis::operator new ( size_t  size)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

void* mrpt::hmtslam::CLocalMetricHypothesis::operator new[] ( size_t  size)
inline

Definition at line 72 of file CLocalMetricHypothesis.h.

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 50 of file CParticleFilterData.h.

void CParticleFilterCapable::performResampling ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
size_t  out_particle_count = 0 
)
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"

Parameters
[in]out_particle_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See Also
resample

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().

void mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::performSubstitution ( const std::vector< size_t > &  indx)
inlinevirtualinherited

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 98 of file CParticleFilterData.h.

void CParticleFilterCapable::prediction_and_update ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
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.

See Also
prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

Definition at line 272 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, and THROW_EXCEPTION.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

void CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 368 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

void CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
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).

See Also
prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 314 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 378 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

void CParticleFilterCapable::prediction_and_update_pfStandardProposal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
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).

See Also
prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 303 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CParticleFilterCapable::prepareFastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
TParticleProbabilityEvaluator  partEvaluator = defaultEvaluator,
const void action = NULL,
const void observation = NULL 
) const
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):

  • DYNAMIC SAMPLE SIZE=NO: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.
  • DYNAMIC SAMPLE SIZE=YES: Then:
    • If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.
    • For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.

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.

See Also
fastDrawSample

Definition at line 348 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, int(), mrpt::math::maximum(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

void CLocalMetricHypothesis::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 886 of file CLocalMetricHypothesis.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::readParticlesFromStream ( STREAM &  in)
inlineinherited

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See Also
writeParticlesToStream

Definition at line 207 of file CParticleFilterData.h.

void CLocalMetricHypothesis::rebuildMetricMaps ( )

Rebuild the metric maps of all particles from the observations and their estimated poses.

Definition at line 596 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC().

void CLocalMetricHypothesis::removeAreaFromLMH ( const CHMHMapNode::TNodeID  areaID)

Removes a given area from the LMH:

  • The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
  • Robot poses belonging to that area are removed from:
    • the particles.
    • the graph partitioner.
    • the list of SFs.
    • the list m_nodeIDmemberships.
  • m_neighbors is updated.

The weights of all particles are changed to remove the effects of the removed metric observations.

  • After calling this the metric maps should be updated.

This method internally calls updateAreaFromLMH

  • The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
  • Robot poses belonging to that area are removed from:
    • the particles.
    • the graph partitioner.
    • the list of SFs.
    • the list m_nodeIDmemberships.
    • The weights of all particles are changed to remove the effects of the removed metric observations.
  • After calling this the metric maps should be updated.

Definition at line 627 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::utils::list_searchable< T >::find(), mrpt::utils::list_searchable< T >::insert(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, and MRPT_START.

Modifies i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 44 of file CParticleFilterData.h.

void CLocalMetricHypothesis::updateAreaFromLMH ( const CHMHMapNode::TNodeID  areaID,
bool  eraseSFsFromLMH = false 
)

The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin.

If eraseSFsFromLMH=true, the sensoryframes are moved rather than copied to the area, and removed from the LMH.

Note
The critical section m_map_cs is locked internally, unlock it before calling this.

Definition at line 755 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::maps::CMetricMap::clear(), mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::utils::list_searchable< T >::insert(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::obs::CSensoryFrame::moveFrom(), NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::hmtslam::TPoseInfo::pdf, mrpt::hmtslam::TPoseInfo::sf, and mrpt::poses::CPose3DPDFParticles::size().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::writeParticlesToStream ( STREAM &  out) const
inlineinherited

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See Also
readParticlesFromStream

Definition at line 192 of file CParticleFilterData.h.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
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.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CLocalMetricHypothesis::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 916 of file CLocalMetricHypothesis.cpp.

Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CLSLAM_RBPF_2DLASER
friend

Definition at line 69 of file CLocalMetricHypothesis.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::hmtslam::CLocalMetricHypothesis::_init_CLocalMetricHypothesis
staticprotected

Definition at line 72 of file CLocalMetricHypothesis.h.

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CLocalMetricHypothesis::classCLocalMetricHypothesis
static

Definition at line 72 of file CLocalMetricHypothesis.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::classinfo
static

Definition at line 72 of file CLocalMetricHypothesis.h.

mrpt::obs::CActionRobotMovement2D mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement
bool mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid
TNodeIDList mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI

The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in CHMTSLAM::LSLAM_process_message_from_AA, read in.

Definition at line 92 of file CLocalMetricHypothesis.h.

TPoseID mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose
TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary
mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 233 of file CParticleFilterCapable.h.

THypothesisID mrpt::hmtslam::CLocalMetricHypothesis::m_ID
synch::CCriticalSection mrpt::hmtslam::CLocalMetricHypothesis::m_lock

Critical section for threads signaling they are working with the LMH.

Definition at line 83 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

double mrpt::hmtslam::CLocalMetricHypothesis::m_log_w
std::vector<std::map<TPoseID,double> > mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history

The historic log-weights of the metric observations inserted in this LMH, for each particle.

Definition at line 95 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

std::vector<double> mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 215 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

mrpt::poses::StdVector_CPose2D mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawMaximumLikelihood
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 224 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

mrpt::poses::StdVector_CPose2D mrpt::hmtslam::CLocalMetricHypothesis::m_movementDraws
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 218 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

unsigned int mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawsIdx
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 221 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

TNodeIDSet mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors

The list of all areas sourronding the current one (this includes the current area itself).

Definition at line 88 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

std::map<TPoseID,CHMHMapNode::TNodeID> mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships

The hybrid map node membership for each robot pose.

Definition at line 89 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

mrpt::utils::safe_ptr<CHMTSLAM> mrpt::hmtslam::CLocalMetricHypothesis::m_parent

The array of particles.

Definition at line 177 of file CParticleFilterData.h.

mrpt::math::CVectorDouble mrpt::hmtslam::CLocalMetricHypothesis::m_pfAuxiliaryPFOptimal_estimatedProb
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 211 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

TPoseIDList mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner

The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop.

Definition at line 91 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph
std::map<TPoseID,mrpt::obs::CSensoryFrame> mrpt::hmtslam::CLocalMetricHypothesis::m_SFs



Page generated by Doxygen 1.8.6 for MRPT 1.5.5 Git: e06b63d Fri Dec 1 14:41:11 2017 +0100 at sáb dic 2 13:00:21 CET 2017