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mrpt::slam::CMetricMapBuilderRBPF Class Reference

Detailed Description

This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.

This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.

A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.

For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.

\note Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.
\note Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.
\note Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
See Also
CMetricMap

Definition at line 46 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF:
Inheritance graph

Classes

struct  TConstructionOptions
 Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More...
 
struct  TStats
 This structure will hold stats after each execution of processActionObservation. More...
 

Public Member Functions

 CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions)
 Constructor. More...
 
 CMetricMapBuilderRBPF ()
 This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF. More...
 
CMetricMapBuilderRBPFoperator= (const CMetricMapBuilderRBPF &src)
 Copy Operator. More...
 
virtual ~CMetricMapBuilderRBPF ()
 Destructor. More...
 
void initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), mrpt::poses::CPosePDF *x0=NULL)
 Initialize the method, starting with a known location PDF "x0" (or set to NULL to use the last keyframe in the simplemap) and a given fixed, past map. More...
 
void clear ()
 Clear all elements of the maps. More...
 
mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation () const
 Returns a copy of the current best pose estimation as a pose PDF. More...
 
void getCurrentMostLikelyPath (std::deque< mrpt::math::TPose3D > &outPath) const
 Returns the current most-likely path estimation (the path associated to the most likely particle). More...
 
void processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)
 Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...
 
void getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const
 Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
 
const mrpt::maps::CMultiMetricMapgetCurrentlyBuiltMetricMap () const
 Returns the map built so far. More...
 
unsigned int getCurrentlyBuiltMapSize ()
 Returns just how many sensory-frames are stored in the currently build map. More...
 
void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)
 A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
 
void drawCurrentEstimationToImage (utils::CCanvas *img)
 A useful method for debugging: draws the current map and path hypotheses to a CCanvas. More...
 
void saveCurrentPathEstimationToTextFile (const std::string &fil)
 A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). More...
 
double getCurrentJointEntropy ()
 
void enableMapUpdating (bool enable)
 Enables or disables the map updating (default state is enabled) More...
 
void loadCurrentMapFromFile (const std::string &fileName)
 Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...
 
void saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
 Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...
 

Public Attributes

mrpt::maps::CMultiMetricMapPDF mapPDF
 The map PDF: It includes a path and associated map for each particle. More...
 
TStats m_statsLastIteration
 This structure will hold stats after each execution of processActionObservation. More...
 
TOptions options
 

Protected Member Functions

void enterCriticalSection ()
 Enter critical section for map updating. More...
 
void leaveCriticalSection ()
 Leave critical section for map updating. More...
 

Protected Attributes

bayes::CParticleFilter::TParticleFilterOptions m_PF_options
 The configuration of the particle filter. More...
 
float insertionLinDistance
 Distances (linear and angular) for inserting a new observation into the map. More...
 
float insertionAngDistance
 
float localizeLinDistance
 Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). More...
 
float localizeAngDistance
 
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
 Traveled distance since last localization update. More...
 
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
 Traveled distance since last map update. More...
 
mrpt::synch::CCriticalSection critZoneChangingMap
 Critical zones. More...
 

Constructor & Destructor Documentation

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( const TConstructionOptions initializationOptions)
CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( )

This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF.

Definition at line 52 of file CMetricMapBuilderRBPF.cpp.

References MRPT_LOG_WARN.

CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF ( )
virtual

Destructor.

Definition at line 81 of file CMetricMapBuilderRBPF.cpp.

Member Function Documentation

void CMetricMapBuilderRBPF::clear ( )
void CMetricMapBuilderRBPF::drawCurrentEstimationToImage ( utils::CCanvas img)
void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool  enable)
inlineinherited

Enables or disables the map updating (default state is enabled)

Definition at line 88 of file CMetricMapBuilder.h.

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )
inlineprotectedinherited

Enter critical section for map updating.

Definition at line 40 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

double CMetricMapBuilderRBPF::getCurrentJointEntropy ( )
void CMetricMapBuilderRBPF::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap out_map) const
virtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 320 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CMultiMetricMapPDF::updateSensoryFrameSequence().

unsigned int CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize ( )
virtual

Returns just how many sensory-frames are stored in the currently build map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 335 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CSimpleMap::size().

const CMultiMetricMap * CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap ( ) const
virtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 327 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), and mapPDF.

void CMetricMapBuilderRBPF::getCurrentMostLikelyPath ( std::deque< mrpt::math::TPose3D > &  outPath) const

Returns the current most-likely path estimation (the path associated to the most likely particle).

Definition at line 300 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mapPDF, and mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount().

CPose3DPDFPtr CMetricMapBuilderRBPF::getCurrentPoseEstimation ( ) const
virtual

Returns a copy of the current best pose estimation as a pose PDF.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 284 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, and odoIncrementSinceLastLocalization.

void CMetricMapBuilderRBPF::initialize ( const mrpt::maps::CSimpleMap initialMap = mrpt::maps::CSimpleMap(),
mrpt::poses::CPosePDF x0 = NULL 
)
virtual
void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )
inlineprotectedinherited

Leave critical section for map updating.

Definition at line 42 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string fileName)
inherited
CMetricMapBuilderRBPF & CMetricMapBuilderRBPF::operator= ( const CMetricMapBuilderRBPF src)
void CMetricMapBuilderRBPF::processActionObservation ( mrpt::obs::CActionCollection action,
mrpt::obs::CSensoryFrame observations 
)
virtual

Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters
actionThe incremental 2D pose change in the robot pose. This value is deterministic.
observationsThe set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 106 of file CMetricMapBuilderRBPF.cpp.

References mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, ASSERT_, mrpt::utils::CListOfClasses::begin(), mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::cov(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion, mrpt::utils::CListOfClasses::end(), mrpt::obs::CSensoryFrame::end(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::obs::CActionRobotMovement3D::estimationMethod, mrpt::bayes::CParticleFilter::executeOn(), mrpt::format(), mrpt::mrpt::format(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::obs::CActionCollection::insert(), insertionAngDistance, insertionLinDistance, mrpt::maps::CMultiMetricMapPDF::insertObservation(), localizeAngDistance, localizeLinDistance, mrpt::bayes::CParticleFilter::m_options, mrpt::bayes::CParticleFilterData< T >::m_particles, m_PF_options, m_statsLastIteration, mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::slam::CMetricMapBuilderRBPF::TStats::observationsInserted, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, mrpt::slam::CMetricMapBuilder::options, mrpt::obs::CActionRobotMovement3D::poseChange, RAD2DEG, mrpt::poses::CPose3D::setFromValues(), mrpt::maps::CMultiMetricMapPDF::SFs, mrpt::maps::CSimpleMap::size(), mrpt::obs::CSensoryFrame::size(), mrpt::obs::CAction::timestamp, and mrpt::poses::CPose3D::yaw().

void CMetricMapBuilderRBPF::saveCurrentEstimationToImage ( const std::string file,
bool  formatEMF_BMP = true 
)
virtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters
fileThe output file name
formatEMF_BMPOutput format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 445 of file CMetricMapBuilderRBPF.cpp.

References CH_GRAY, drawCurrentEstimationToImage(), MRPT_END, MRPT_START, and mrpt::utils::CImage::saveToFile().

void CMetricMapBuilder::saveCurrentMapToFile ( const std::string fileName,
bool  compressGZ = true 
) const
inherited
void CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile ( const std::string fil)

A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).

Definition at line 477 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, and mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile().

Member Data Documentation

mrpt::synch::CCriticalSection mrpt::slam::CMetricMapBuilder::critZoneChangingMap
protectedinherited
float mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance
protected
float mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance
protected
float mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance
protected
float mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance
protected

Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).

Definition at line 60 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::m_PF_options
protected

The configuration of the particle filter.

Definition at line 54 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

TStats mrpt::slam::CMetricMapBuilderRBPF::m_statsLastIteration

This structure will hold stats after each execution of processActionObservation.

Definition at line 173 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

mrpt::maps::CMultiMetricMapPDF mrpt::slam::CMetricMapBuilderRBPF::mapPDF
mrpt::poses::CPose3DPDFGaussian mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastLocalization
protected

Traveled distance since last localization update.

Definition at line 63 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), getCurrentPoseEstimation(), operator=(), and processActionObservation().

mrpt::poses::CPose3D mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastMapUpdate
protected

Traveled distance since last map update.

Definition at line 64 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), operator=(), and processActionObservation().

TOptions mrpt::slam::CMetricMapBuilder::options
inherited



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