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mrpt::graphslam::TSlidingWindow Struct Reference

Detailed Description

Class to monitor the evolution of a statistical quantity.

Description

Keeps track of the last N incoming measurements of the quantity at hand and upon request returns statistical properties of these measurements (mean, median, etc.)

Class also contains methods for evaluating incoming measurements (whether to accept or reject those)

.ini Configuration Parameters

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

Definition at line 48 of file TSlidingWindow.h.

#include <mrpt/graphslam/misc/TSlidingWindow.h>

Inheritance diagram for mrpt::graphslam::TSlidingWindow:
Inheritance graph

Public Member Functions

 TSlidingWindow (std::string name="window")
 
 ~TSlidingWindow ()
 
double getMedian ()
 Return the current median value. More...
 
double getMean ()
 Return the current mean value. More...
 
double getStdDev ()
 Return the Standard deviation of the current measurement vector. More...
 
bool evaluateMeasurementInGaussian (double measurement)
 Determine whether the incoming measurement is inside the [-3sigma, +3sigma] boundaries from the current mean value. More...
 
bool evaluateMeasurementAbove (double value)
 Determine whether the incoming measurement is over the current mean value. More...
 
bool evaluateMeasurementBelow (double value)
 Determine whether the incoming measurement is less or equal to the current mean value. More...
 
void addNewMeasurement (double measurement)
 Update the sliding window by appending a new measurement. More...
 
void resizeWindow (size_t new_size)
 Resize the window. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 
size_t getWindowSize () const
 Return the size of the window. More...
 
bool windowIsFull () const
 Check if the window has reached its limit. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Private Attributes

size_t m_win_size
 
std::vector< double > m_measurements_vec
 
std::string m_name
 Name of the TSlidingWindow Instance at hand. More...
 
double m_mean_cached
 Cached mean value. More...
 
double m_median_cached
 Cached median value. More...
 
double m_std_dev_cached
 Cached version of the standard deviation. More...
 
bool m_mean_updated
 Is the mean up-to-date? More...
 
bool m_median_updated
 Is the median up-to-date? More...
 
bool m_std_dev_updated
 Is the standard deviation up-to-date? More...
 
bool m_is_initialized
 flag is raised the first time that TSlidingWindow::addNewMeasurement is called More...
 

Constructor & Destructor Documentation

TSlidingWindow::TSlidingWindow ( std::string  name = "window")
TSlidingWindow::~TSlidingWindow ( )

Definition at line 36 of file TSlidingWindow.cpp.

Member Function Documentation

void TSlidingWindow::addNewMeasurement ( double  measurement)
void CLoadableOptions::dumpToConsole ( ) const
inherited
void TSlidingWindow::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 187 of file TSlidingWindow.cpp.

References m_is_initialized, m_mean_cached, m_mean_updated, m_measurements_vec, m_median_cached, m_median_updated, m_name, m_std_dev_cached, m_std_dev_updated, m_win_size, MRPT_END, MRPT_START, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
bool TSlidingWindow::evaluateMeasurementAbove ( double  value)

Determine whether the incoming measurement is over the current mean value.

Returns
True if it's above the mean

Definition at line 118 of file TSlidingWindow.cpp.

References getMean(), MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementBelow().

bool TSlidingWindow::evaluateMeasurementBelow ( double  value)

Determine whether the incoming measurement is less or equal to the current mean value.

Returns
True if it's <= to the mean

Definition at line 127 of file TSlidingWindow.cpp.

References evaluateMeasurementAbove().

bool TSlidingWindow::evaluateMeasurementInGaussian ( double  measurement)

Determine whether the incoming measurement is inside the [-3sigma, +3sigma] boundaries from the current mean value.

Returns
True if it's inside the uncertainty boundaries

Definition at line 110 of file TSlidingWindow.cpp.

References getMean(), and getStdDev().

double TSlidingWindow::getMean ( )

Return the current mean value.

Definition at line 64 of file TSlidingWindow.cpp.

References m_mean_cached, m_mean_updated, m_measurements_vec, MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementAbove(), evaluateMeasurementInGaussian(), and getStdDev().

double TSlidingWindow::getMedian ( )
double TSlidingWindow::getStdDev ( )

Return the Standard deviation of the current measurement vector.

Definition at line 84 of file TSlidingWindow.cpp.

References getMean(), m_measurements_vec, m_std_dev_cached, m_std_dev_updated, m_win_size, mean(), MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementInGaussian().

size_t TSlidingWindow::getWindowSize ( ) const

Return the size of the window.

Definition at line 213 of file TSlidingWindow.cpp.

References m_win_size.

void TSlidingWindow::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 174 of file TSlidingWindow.cpp.

References MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_int(), and resizeWindow().

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

void TSlidingWindow::resizeWindow ( size_t  new_size)

Resize the window.

Note
Method affects the underlying vector only if the new_size specified has already been reached

Definition at line 155 of file TSlidingWindow.cpp.

References m_mean_updated, m_measurements_vec, m_median_updated, m_win_size, MRPT_END, and MRPT_START.

Referenced by loadFromConfigFile(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

bool TSlidingWindow::windowIsFull ( ) const

Check if the window has reached its limit.

This limit is set by the user via the resizeWindow method.

See also
resizeWindow

Definition at line 217 of file TSlidingWindow.cpp.

References m_measurements_vec, and m_win_size.

Member Data Documentation

bool mrpt::graphslam::TSlidingWindow::m_is_initialized
private

flag is raised the first time that TSlidingWindow::addNewMeasurement is called

Definition at line 118 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), and TSlidingWindow().

double mrpt::graphslam::TSlidingWindow::m_mean_cached
private

Cached mean value.

Definition at line 107 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), getMean(), and TSlidingWindow().

bool mrpt::graphslam::TSlidingWindow::m_mean_updated
private

Is the mean up-to-date?

Definition at line 110 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMean(), resizeWindow(), and TSlidingWindow().

std::vector<double> mrpt::graphslam::TSlidingWindow::m_measurements_vec
private
double mrpt::graphslam::TSlidingWindow::m_median_cached
private

Cached median value.

Definition at line 108 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), getMedian(), and TSlidingWindow().

bool mrpt::graphslam::TSlidingWindow::m_median_updated
private

Is the median up-to-date?

Definition at line 111 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMedian(), resizeWindow(), and TSlidingWindow().

std::string mrpt::graphslam::TSlidingWindow::m_name
private

Name of the TSlidingWindow Instance at hand.

Definition at line 105 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and TSlidingWindow().

double mrpt::graphslam::TSlidingWindow::m_std_dev_cached
private

Cached version of the standard deviation.

Definition at line 109 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and getStdDev().

bool mrpt::graphslam::TSlidingWindow::m_std_dev_updated
private

Is the standard deviation up-to-date?

Definition at line 112 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getStdDev(), and TSlidingWindow().

size_t mrpt::graphslam::TSlidingWindow::m_win_size
private



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