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mrpt::poses::CPosePDFParticles Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples.

This class is also the base for the implementation of Monte-Carlo Localization (MCL), in mrpt::slam::CMonteCarloLocalization2D.

See the application "app/pf-localization" for an example of usage.

See Also
CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 33 of file CPosePDFParticles.h.

#include <mrpt/poses/CPosePDFParticles.h>

Inheritance diagram for mrpt::poses::CPosePDFParticles:
Inheritance graph

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose2D type_value
 The type of the state the PDF represents. More...
 
typedef
CProbabilityDensityFunction
< CPose2D, STATE_LEN > 
self_t
 
typedef CPose2D CParticleDataContent
 This is the type inside the corresponding CParticleData class. More...
 
typedef CProbabilityParticle
< CPose2D
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 ()
 
void clear ()
 Free all the memory associated to m_particles, and set the number of parts = 0. More...
 
 CPosePDFParticles (size_t M=1)
 Constructor. More...
 
void copyFrom (const CPosePDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...
 
void resetDeterministic (const CPose2D &location, size_t particlesCount=0)
 Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose. More...
 
void resetUniform (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &phi_min=-M_PI, const double &phi_max=M_PI, const int &particlesCount=-1)
 Reset the PDF to an uniformly distributed one, inside of the defined cube. More...
 
void resetAroundSetOfPoses (const std::vector< mrpt::math::TPose2D > &list_poses, const size_t num_particles_per_pose, const double spread_x, const double spread_y, const double spread_phi_rad)
 Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose. More...
 
void getMean (CPose2D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...
 
CPose2D getParticlePose (size_t i) const
 Returns the pose of the i'th particle. More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save PDF's m_particles to a text file. More...
 
size_t size () const
 Get the m_particles count (equivalent to "particlesCount") More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void drawSingleSample (CPose2D &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...
 
void operator+= (const CPose2D &Ap)
 Appends (pose-composition) a given pose "p" to each particle. More...
 
void append (CPosePDFParticles &o)
 Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. More...
 
void inverse (CPosePDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose2D getMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
 Bayesian fusion. More...
 
double evaluatePDF_parzen (const double &x, const double &y, const double &phi, const double &stdXY, const double &stdPhi) const
 Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window. More...
 
void saveParzenPDFToTextFile (const char *fileName, const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &phi, const double &stepSizeXY, const double &stdXY, const double &stdPhi) const
 Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window. 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 >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. 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...
 
virtual void getMean (CPose2D &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, CPose2D &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, CPose2D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPose2D 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 (CPose2D &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 CPosePDFParticlesderived () const
 CRTP helper method. More...
 
CPosePDFParticlesderived ()
 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...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static void jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
 This static method computes the pose composition Jacobians, with these formulas: More...
 
static void jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)
 
static bool is_3D ()
 
static 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 const
mrpt::utils::TRuntimeClassId 
classCObject
 
static const 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...
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCPosePDF
 
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...
 
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
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...
 

Protected Attributes

TFastDrawAuxVars m_fastDrawAuxiliary
 Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...
 

RTTI stuff

typedef CPosePDFParticlesPtr Ptr
 
typedef CPosePDFParticlesPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPosePDFParticles
 
static mrpt::utils::TRuntimeClassId classCPosePDFParticles
 
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 CPosePDFParticlesPtr Create ()
 

Member Typedef Documentation

typedef CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::ConstPtr

Definition at line 39 of file CPosePDFParticles.h.

typedef CProbabilityParticle<CPose2D > mrpt::bayes::CParticleFilterData< CPose2D >::CParticleData
inherited

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 CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::Ptr

A typedef for the associated smart pointer

Definition at line 39 of file CPosePDFParticles.h.

typedef CProbabilityDensityFunction<CPose2D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t
inherited

Definition at line 33 of file CProbabilityDensityFunction.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.

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 91 of file CPosePDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPosePDF.h.

Constructor & Destructor Documentation

CPosePDFParticles::CPosePDFParticles ( size_t  M = 1)

Constructor.

Parameters
MThe number of m_particles.

Definition at line 35 of file CPosePDFParticles.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::_GetBaseClass ( )
staticprotected
void CPosePDFParticles::append ( CPosePDFParticles o)

Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.

Definition at line 376 of file CPosePDFParticles.cpp.

References mrpt::bayes::CProbabilityParticle< T >::d, mrpt::bayes::CProbabilityParticle< T >::log_w, and mrpt::bayes::CParticleFilterData< T >::m_particles.

void CPosePDFParticles::bayesianFusion ( const CPosePDF p1,
const CPosePDF p2,
const double &  minMahalanobisDistToDrop = 0 
)
virtual

Bayesian fusion.

Implements mrpt::poses::CPosePDF.

Definition at line 432 of file CPosePDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPosePDFParticles::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtual

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.

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 334 of file CPosePDFParticles.cpp.

void CPosePDFParticles::clear ( )

Free all the memory associated to m_particles, and set the number of parts = 0.

Definition at line 95 of file CPosePDFParticles.cpp.

Referenced by mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

void mrpt::bayes::CParticleFilterData< CPose2D >::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.

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.

void CPosePDFParticles::copyFrom ( const CPosePDF o)
virtual
static CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPosePDFParticles::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.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
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.

Reimplemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, and mrpt::poses::CPosePDFGrid.

Definition at line 125 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::drawSingleSample().

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

void CPosePDFParticles::drawSingleSample ( CPose2D outPart) const

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 345 of file CPosePDFParticles.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), and mrpt::random::randomGenerator.

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_2D().

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFParticles::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.

double CPosePDFParticles::evaluatePDF_parzen ( const double &  x,
const double &  y,
const double &  phi,
const double &  stdXY,
const double &  stdPhi 
) const

Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window.

See Also
saveParzenPDFToTextFile

Definition at line 442 of file CPosePDFParticles.cpp.

References mrpt::math::normalPDF(), and mrpt::math::wrapToPi().

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().

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
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)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 101 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 110 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 68 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getInformationMatrix

Definition at line 86 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose2D &  mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also
getMean, getInformationMatrix
void CPosePDFParticles::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 cov,
CPose2D mean_point 
) const
void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose2D &  mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also
getMean, getInformationMatrix

Definition at line 48 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

double mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited
virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
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.

See Also
getMean, getCovarianceAndMean

Definition at line 106 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also
getCovarianceAndMean, getInformationMatrix
void CPosePDFParticles::getMean ( CPose2D mean_pose) const

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

See Also
getCovariance

Definition at line 105 of file CPosePDFParticles.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also
getCovariance, getInformationMatrix

Definition at line 58 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

CPose2D CPosePDFParticles::getMostLikelyParticle ( ) const

Returns the particle with the highest weight.

Definition at line 411 of file CPosePDFParticles.cpp.

CPose2D CPosePDFParticles::getParticlePose ( size_t  i) const

Returns the pose of the i'th particle.

Definition at line 326 of file CPosePDFParticles.cpp.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::getW ( size_t  i) const
inlinevirtualinherited

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< CPose2D >::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 CPosePDFParticles::inverse ( CPosePDF o) const
virtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPosePDF.

Definition at line 392 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, copyFrom(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

static bool mrpt::poses::CPosePDF::is_3D ( )
inlinestaticinherited

Definition at line 92 of file CPosePDF.h.

static bool mrpt::poses::CPosePDF::is_PDF ( )
inlinestaticinherited

Definition at line 94 of file CPosePDF.h.

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See Also
mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPosePDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

void CPosePDF::jacobiansPoseComposition ( const CPose2D x,
const CPose2D u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du,
const bool  compute_df_dx = true,
const bool  compute_df_du = true 
)
staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]

Definition at line 35 of file CPosePDF.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), mrpt::poses::CPosePDFGaussianInf::operator+=(), and mrpt::poses::CPosePDFGaussian::operator+=().

void CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian x,
const CPosePDFGaussian u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du 
)
staticinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 23 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

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< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::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::poses::CPosePDFParticles::operator delete ( void ptr)
throw (
)
inline

Definition at line 39 of file CPosePDFParticles.h.

void mrpt::poses::CPosePDFParticles::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 39 of file CPosePDFParticles.h.

void mrpt::poses::CPosePDFParticles::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 39 of file CPosePDFParticles.h.

void mrpt::poses::CPosePDFParticles::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 39 of file CPosePDFParticles.h.

static void* mrpt::poses::CPosePDFParticles::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 39 of file CPosePDFParticles.h.

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

Definition at line 39 of file CPosePDFParticles.h.

void* mrpt::poses::CPosePDFParticles::operator new ( size_t  size)
inline

Definition at line 39 of file CPosePDFParticles.h.

void* mrpt::poses::CPosePDFParticles::operator new[] ( size_t  size)
inline

Definition at line 39 of file CPosePDFParticles.h.

void CPosePDFParticles::operator+= ( const CPose2D Ap)

Appends (pose-composition) a given pose "p" to each particle.

Definition at line 367 of file CPosePDFParticles.cpp.

size_t mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::particlesCount ( ) const
inlinevirtualinherited

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 50 of file CParticleFilterData.h.

Referenced by mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

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< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::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 CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal ( 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 "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See Also
prediction_and_update

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

Definition at line 336 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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 CParticleFilterCapable::prediction_and_update_pfOptimalProposal ( 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 "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See Also
prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.

Definition at line 325 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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 CPosePDFParticles::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 197 of file CPosePDFParticles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void mrpt::bayes::CParticleFilterData< CPose2D >::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 CPosePDFParticles::resetAroundSetOfPoses ( const std::vector< mrpt::math::TPose2D > &  list_poses,
const size_t  num_particles_per_pose,
const double  spread_x,
const double  spread_y,
const double  spread_phi_rad 
)

Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose.

Parameters
[in]list_posesThe poses (x,y,phi) around which particles will be spread. Must contains at least one pose.
[in]num_particles_per_poseNumber of particles to be spread around each of the "spots" in list_poses. Must be >=1.

Particles will be spread uniformly in a box of width spread_{x,y,phi_rad} in each of the three coordinates (meters, radians), so it can be understood as the "initial uncertainty".

See Also
resetDeterministic, resetUniformFreeSpace

Definition at line 268 of file CPosePDFParticles.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::utils::clear(), mrpt::random::CRandomGenerator::drawUniform(), MRPT_END, MRPT_START, mrpt::math::TPose2D::phi, mrpt::random::randomGenerator, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

void CPosePDFParticles::resetDeterministic ( const CPose2D location,
size_t  particlesCount = 0 
)

Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

Parameters
locationThe location to set all the m_particles.
particlesCountIf this is set to 0 the number of m_particles remains unchanged.
See Also
resetUniform, resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 216 of file CPosePDFParticles.cpp.

References mrpt::utils::clear().

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), and mrpt::poses::CPosePDFGrid::getCovarianceAndMean().

void CPosePDFParticles::resetUniform ( const double &  x_min,
const double &  x_max,
const double &  y_min,
const double &  y_max,
const double &  phi_min = -M_PI,
const double &  phi_max = M_PI,
const int particlesCount = -1 
)

Reset the PDF to an uniformly distributed one, inside of the defined cube.

If particlesCount is set to -1 the number of m_particles remains unchanged.

See Also
resetDeterministic, resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 237 of file CPosePDFParticles.cpp.

References mrpt::utils::clear(), mrpt::random::CRandomGenerator::drawUniform(), MRPT_END, MRPT_START, and mrpt::random::randomGenerator.

Referenced by run_test_pf_localization().

void CPosePDFParticles::saveParzenPDFToTextFile ( const char *  fileName,
const double &  x_min,
const double &  x_max,
const double &  y_min,
const double &  y_max,
const double &  phi,
const double &  stepSizeXY,
const double &  stdXY,
const double &  stdPhi 
) const

Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window.

See Also
evaluatePDF_parzen

Definition at line 466 of file CPosePDFParticles.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

void CPosePDFParticles::saveToTextFile ( const std::string file) const
virtual

Save PDF's m_particles to a text file.

In each line it will go: "x y phi weight"

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 307 of file CPosePDFParticles.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

void mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList >::setW ( size_t  i,
double  w 
)
inlinevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 44 of file CParticleFilterData.h.

size_t mrpt::poses::CPosePDFParticles::size ( ) const
inline

Get the m_particles count (equivalent to "particlesCount")

Definition at line 112 of file CPosePDFParticles.h.

Referenced by mrpt::poses::CPose3DPDF::createFrom2D(), and mrpt::opengl::CSetOfObjects::posePDF2opengl().

void mrpt::bayes::CParticleFilterData< CPose2D >::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 CPosePDFParticles::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 184 of file CPosePDFParticles.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFParticles::_init_CPosePDFParticles
staticprotected

Definition at line 39 of file CPosePDFParticles.h.

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

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF
staticinherited

Definition at line 41 of file CPosePDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFParticles::classCPosePDFParticles
static

Definition at line 39 of file CPosePDFParticles.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::classinfo
static

Definition at line 39 of file CPosePDFParticles.h.

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary
mutableprotectedinherited

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

Definition at line 233 of file CParticleFilterCapable.h.

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::state_length
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.




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