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mrpt::bayes::CParticleFilter Class Reference

Detailed Description

This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilterAlgorithm) any bayes::CParticleFilterCapable class can implement: it is the invoker of particle filter algorithms.

The particle filter is executed on a probability density function (PDF) described by a CParticleFilterCapable object, passed in the constructor or alternatively through the CParticleFilter::executeOn method.

For a complete example and further details, see the Particle Filter tutorial.

The basic SIR algorithm (pfStandardProposal) consists of:

See also
mrpt::poses::CPoseParticlesPDF

Definition at line 51 of file CParticleFilter.h.

#include <mrpt/bayes/CParticleFilter.h>

Inheritance diagram for mrpt::bayes::CParticleFilter:
Inheritance graph

Classes

struct  TParticleFilterOptions
 The configuration of a particle filter. More...
 
struct  TParticleFilterStats
 Statistics for being returned from the "execute" method. More...
 

Public Types

enum  TParticleFilterAlgorithm { pfStandardProposal = 0, pfAuxiliaryPFStandard, pfOptimalProposal, pfAuxiliaryPFOptimal }
 Defines different types of particle filter algorithms. More...
 
enum  TParticleResamplingAlgorithm { prMultinomial = 0, prResidual, prStratified, prSystematic }
 Defines the different resampling algorithms. More...
 

Public Member Functions

 CParticleFilter ()
 Default constructor. More...
 
virtual ~CParticleFilter ()
 
void executeOn (CParticleFilterCapable &obj, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, TParticleFilterStats *stats=nullptr)
 Executes a complete prediction + update step of the selected particle filtering algorithm. More...
 

Public Attributes

CParticleFilter::TParticleFilterOptions m_options
 The options to be used in the PF, must be set before executing any step of the particle filter. More...
 

Static Public Attributes

static mrpt::system::TConsoleColor logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::string logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Logging methods

bool logging_enable_console_output
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, const std::string &msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=NULL) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Member Enumeration Documentation

◆ TParticleFilterAlgorithm

Defines different types of particle filter algorithms.

The defined SIR implementations are:

  • pfStandardProposal: Standard proposal distribution + weights according to likelihood function.
  • pfAuxiliaryPFStandard: An auxiliary PF using the standard proposal distribution.
  • pfOptimalProposal: Use the optimal proposal distribution (where available!, usually this will perform approximations)
  • pfAuxiliaryPFOptimal: Use the optimal proposal and a auxiliary particle filter (see paper).

See the theoretical discussion in resampling schemes.

Enumerator
pfStandardProposal 
pfAuxiliaryPFStandard 
pfOptimalProposal 
pfAuxiliaryPFOptimal 

Definition at line 70 of file CParticleFilter.h.

◆ TParticleResamplingAlgorithm

Defines the different resampling algorithms.

The implemented resampling methods are:

  • prMultinomial (Default): Uses standard select with replacement (draws M random uniform numbers)
  • prResidual: The residual or "remainder" method.
  • prStratified: The stratified resampling, where a uniform sample is drawn for each of M subdivisions of the range (0,1].
  • prSystematic: A single uniform sample is drawn in the range (0,1/M].

See the theoretical discussion in resampling schemes.

Enumerator
prMultinomial 
prResidual 
prStratified 
prSystematic 

Definition at line 92 of file CParticleFilter.h.

Constructor & Destructor Documentation

◆ CParticleFilter()

CParticleFilter::CParticleFilter ( )

Default constructor.

After creating the PF object, set the options in CParticleFilter::m_options, then execute steps through CParticleFilter::executeOn.

Definition at line 40 of file CParticleFilter.cpp.

◆ ~CParticleFilter()

virtual mrpt::bayes::CParticleFilter::~CParticleFilter ( )
inlinevirtual

Definition at line 182 of file CParticleFilter.h.

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 179 of file COutputLogger.cpp.

◆ executeOn()

void CParticleFilter::executeOn ( CParticleFilterCapable obj,
const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
TParticleFilterStats stats = nullptr 
)

Executes a complete prediction + update step of the selected particle filtering algorithm.

The member CParticleFilter::m_options must be set before calling this to settle the algorithm parameters.

Parameters
objThe object representing the probability distribution function (PDF) which apply the particle filter algorithm to.
actionA pointer to an action in the form of a CActionCollection, or nullptr if there is no action.
observationA pointer to observations in the form of a CSensoryFrame, or nullptr if there is no observation.
statsAn output structure for gathering statistics of the particle filter execution, or set to nullptr if you do not need it (see CParticleFilter::TParticleFilterStats).
See also
CParticleFilterCapable, executeOn

Definition at line 45 of file CParticleFilter.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA, mrpt::bayes::CParticleFilter::TParticleFilterStats::ESS_beforeResample, mrpt::format(), m_options, MRPT_END, MRPT_LOG_DEBUG, MRPT_START, mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, pfOptimalProposal, pfStandardProposal, mrpt::square(), and mrpt::bayes::CParticleFilter::TParticleFilterStats::weightsVariance_beforeResample.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), and run_test_pf_localization().

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 143 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 148 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 190 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 132 of file COutputLogger.cpp.

Referenced by mrpt::system::COutputLogger::TMsg::TMsg().

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 120 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 287 of file COutputLogger.cpp.

References getAddress().

◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 274 of file COutputLogger.cpp.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
const std::string msg_str 
) const
inherited

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 133 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = NULL) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors
staticinherited
Initial value:

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Implementation file for the COutputLogger header class.

Handy for coloring the input based on the verbosity of the message

Definition at line 124 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

◆ logging_levels_to_names

std::string COutputLogger::logging_levels_to_names
staticinherited
Initial value:
=
{
"DEBUG",
"INFO ",
"WARN ",
"ERROR"
}

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 129 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_options

CParticleFilter::TParticleFilterOptions mrpt::bayes::CParticleFilter::m_options

The options to be used in the PF, must be set before executing any step of the particle filter.

Definition at line 209 of file CParticleFilter.h.

Referenced by executeOn(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), and run_test_pf_localization().




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