Detailed Description

Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications).

This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"

See also: mrpt::slam::CMetricMapBuilderRBPF

Definition at line 57 of file CMultiMetricMapPDF.h.

#include <mrpt/maps/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::maps::CMultiMetricMapPDF:

Classes
struct	TPredictionParams
	The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. More...

Public Types
using	CParticleDataContent = CRBPFParticleData
	This is the type inside the corresponding CParticleData class. More...

using	CParticleData = CProbabilityParticle< CRBPFParticleData, particle_storage_mode::POINTER >
	Use this to refer to each element in the m_particles array. More...

using	CParticleList = std::deque< CParticleData >
	Use this type to refer to the list of particles m_particles. More...

using	TParticleProbabilityEvaluator = double()(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
	CMultiMetricMapPDF ()=default
	Constructor. More...

	CMultiMetricMapPDF (const bayes::CParticleFilter::TParticleFilterOptions &opts, const mrpt::maps::TSetOfMetricMapInitializers &mapsInitializers, const TPredictionParams &predictionOptions)

void	clear (const mrpt::poses::CPose2D &initialPose)
	Clear all elements of the maps, and restore all paths to a single starting pose. More...

void	clear (const mrpt::poses::CPose3D &initialPose)

void	clear (const mrpt::maps::CSimpleMap &prevMap, const mrpt::poses::CPose3D &currentPose)
	Resets the map by loading an already-mapped map for past poses. More...

void	getEstimatedPosePDFAtTime (size_t timeStep, mrpt::poses::CPose3DPDFParticles &out_estimation) const
	Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. More...

void	getEstimatedPosePDF (mrpt::poses::CPose3DPDFParticles &out_estimation) const
	Returns the current estimate of the robot pose, as a particles PDF. More...

const CMultiMetricMap *	getAveragedMetricMapEstimation ()
	Returns the weighted averaged map based on the current best estimation. More...

const CMultiMetricMap *	getCurrentMostLikelyMetricMap () const
	Returns a pointer to the current most likely map (associated to the most likely particle) More...

size_t	getNumberOfObservationsInSimplemap () const
	Get the number of CSensoryFrame inserted into the internal member SFs. More...

bool	insertObservation (mrpt::obs::CSensoryFrame &sf)
	Insert an observation to the map, at each particle's pose and to each particle's metric map. More...

void	getPath (size_t i, std::deque< math::TPose3D > &out_path) const
	Return the path (in absolute coordinate poses) for the i'th particle. More...

double	getCurrentEntropyOfPaths ()
	Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance. More...

double	getCurrentJointEntropy ()
	Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. More...

void	updateSensoryFrameSequence ()
	Update the poses estimation of the member "SFs" according to the current path belief. 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...

virtual mxArray *	writeToMatlab () 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...

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 CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

const CMultiMetricMapPDF &	derived () const
	CRTP helper method. More...

CMultiMetricMapPDF &	derived ()
	CRTP helper method. More...

double	getW (size_t i) const override
	Access to i'th particle (logarithm) weight, where first one is index 0. More...

void	setW (size_t i, double w) override
	Modifies i'th particle (logarithm) weight, where first one is index 0. More...

size_t	particlesCount () const override
	Get the m_particles count. More...

double	normalizeWeights (double *out_max_log_w=nullptr) override
	Normalize the (logarithmic) weights, such as the maximum weight is zero. More...

double	ESS () const override
	Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...

void	performSubstitution (const std::vector< size_t > &indx) 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=nullptr, const void observation=nullptr) 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...

bool	PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf)
	Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing. More...

Virtual methods that the PF_implementations assume exist.
mrpt::math::TPose3D	getLastPose (const size_t i, bool &pose_is_valid) const override
	Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose. More...

void	PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const mrpt::math::TPose3D &newPose) const override

bool	PF_SLAM_implementation_doWeHaveValidObservations (const CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const override

bool	PF_SLAM_implementation_skipRobotMovement () const override
	Do not move the particles until the map is populated. More...

double	PF_SLAM_computeObservationLikelihoodForParticle (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const size_t particleIndexForMap, const mrpt::obs::CSensoryFrame &observation, const mrpt::poses::CPose3D &x) const override
	Evaluate the observation likelihood for one particle at a given location. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Virtual methods that the PF_implementations assume exist.
virtual void	PF_SLAM_implementation_custom_update_particle_with_new_pose (CRBPFParticleData *particleData, const mrpt::math::TPose3D &newPose) const=0

virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< CRBPFParticleData, STORAGE >::CParticleList &old_particles, const std::vector< mrpt::math::TPose3D > &newParticles, const std::vector< double > &newParticlesWeight, const std::vector< size_t > &newParticlesDerivedFromIdx) const
	This is the default algorithm to efficiently replace one old set of samples by another new set. More...

virtual bool	PF_SLAM_implementation_doWeHaveValidObservations (const typename mrpt::bayes::CParticleFilterData< CRBPFParticleData, STORAGE >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const

Static Public Member Functions
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...

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
mrpt::maps::CMultiMetricMapPDF::TPredictionParams	options

CParticleList	m_particles
	The array of particles. More...

Static Public Attributes
static const particle_storage_mode	PARTICLE_STORAGE

Protected Member Functions
void	prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	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...

void	prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	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...

void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	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...

void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

The generic PF implementations for localization & SLAM.
void	PF_SLAM_implementation_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
	A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping. More...

void	PF_SLAM_implementation_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
	A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping. More...

void	PF_SLAM_implementation_pfStandardProposal (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
	A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping. More...

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

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

Private Member Functions
void	rebuildAverageMap ()
	Rebuild the "expected" grid map. More...

Private Attributes
mrpt::maps::CMultiMetricMap	averageMap
	Internal buffer for the averaged map. More...

bool	averageMapIsUpdated {false}

mrpt::maps::CSimpleMap	SFs
	The SFs and their corresponding pose estimations. More...

std::vector< uint32_t >	SF2robotPath
	A mapping between indexes in the SFs to indexes in the robot paths from particles. More...

float	newInfoIndex {0}
	An index [0,1] measuring how much information an observation aports to the map (Typ. More...

Friends
class	mrpt::slam::CMetricMapBuilderRBPF

RTTI stuff
using	Ptr = std::shared_ptr< CMultiMetricMapPDF >

using	ConstPtr = std::shared_ptr< const CMultiMetricMapPDF >

using	UniquePtr = std::unique_ptr< CMultiMetricMapPDF >

using	ConstUniquePtr = std::unique_ptr< const CMultiMetricMapPDF >

static mrpt::rtti::CLASSINIT	_init_CMultiMetricMapPDF

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CMultiMetricMapPDF"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Data members and methods used by generic PF implementations
static double	PF_SLAM_particlesEvaluator_AuxPFStandard (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::CParticleFilterCapable obj, size_t index, const void action, const void *observation)
	Compute w[i]*p(z_t \| mu_t^i), with mu_t^i being the mean of the new robot pose. More...

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

mrpt::obs::CActionRobotMovement2D	m_accumRobotMovement2D

bool	m_accumRobotMovement2DIsValid

mrpt::poses::CPose3DPDFGaussian	m_accumRobotMovement3D

bool	m_accumRobotMovement3DIsValid

mrpt::poses::CPoseRandomSampler	m_movementDrawer
	Used in al PF implementations. More...

mrpt::math::CVectorDouble	m_pfAuxiliaryPFOptimal_estimatedProb
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

mrpt::math::CVectorDouble	m_pfAuxiliaryPFStandard_estimatedProb
	Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm. More...

mrpt::math::CVectorDouble	m_pfAuxiliaryPFOptimal_maxLikelihood
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< mrpt::math::TPose3D >	m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< bool >	m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

Logging methods
bool	logging_enable_console_output {true}
	[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 {false}
	[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=nullptr) 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 Typedef Documentation

◆ ConstPtr

using mrpt::maps::CMultiMetricMapPDF::ConstPtr = std::shared_ptr<const CMultiMetricMapPDF >

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ ConstUniquePtr

using mrpt::maps::CMultiMetricMapPDF::ConstUniquePtr = std::unique_ptr<const CMultiMetricMapPDF >

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ CParticleData

using mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::CParticleData = CProbabilityParticle<CRBPFParticleData , particle_storage_mode::POINTER >

inherited

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

Definition at line 189 of file CParticleFilterData.h.

◆ CParticleDataContent

using mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::CParticleDataContent = CRBPFParticleData

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 187 of file CParticleFilterData.h.

◆ CParticleList

using mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::CParticleList = std::deque<CParticleData>

inherited

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

Definition at line 191 of file CParticleFilterData.h.

◆ Ptr

using mrpt::maps::CMultiMetricMapPDF::Ptr = std::shared_ptr< CMultiMetricMapPDF >

A type for the associated smart pointer

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ TParticleProbabilityEvaluator

using mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator = double (*)( 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

index	This is the index of the particle its probability is being computed.
action	The value of this is the parameter passed to "prepareFastDrawSample"
observation	The 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 60 of file CParticleFilterCapable.h.

◆ UniquePtr

using mrpt::maps::CMultiMetricMapPDF::UniquePtr = std::unique_ptr< CMultiMetricMapPDF >

Definition at line 69 of file CMultiMetricMapPDF.h.

Constructor & Destructor Documentation

◆ CMultiMetricMapPDF() [1/2]

mrpt::maps::CMultiMetricMapPDF::CMultiMetricMapPDF ( )

default

Constructor.

◆ CMultiMetricMapPDF() [2/2]

CMultiMetricMapPDF::CMultiMetricMapPDF	(	const bayes::CParticleFilter::TParticleFilterOptions &	opts,
		const mrpt::maps::TSetOfMetricMapInitializers &	mapsInitializers,
		const TPredictionParams &	predictionOptions
	)

Definition at line 47 of file CMultiMetricMapPDF.cpp.

References mrpt::containers::clear().

Here is the call graph for this function:

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMultiMetricMapPDF::_GetBaseClass ( )

staticprotected

◆ clear() [1/3]

void CMultiMetricMapPDF::clear ( const mrpt::poses::CPose2D & initialPose )

Clear all elements of the maps, and restore all paths to a single starting pose.

Definition at line 71 of file CMultiMetricMapPDF.cpp.

References mrpt::containers::clear().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), and mrpt::slam::CMetricMapBuilderRBPF::initialize().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ clear() [2/3]

void CMultiMetricMapPDF::clear ( const mrpt::poses::CPose3D & initialPose )

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 80 of file CMultiMetricMapPDF.cpp.

References mrpt::poses::CPose3D::asTPose().

Here is the call graph for this function:

◆ clear() [3/3]

void CMultiMetricMapPDF::clear	(	const mrpt::maps::CSimpleMap &	prevMap,
		const mrpt::poses::CPose3D &	currentPose
	)

Resets the map by loading an already-mapped map for past poses.

Current robot pose should be normally set to the last keyframe in the simplemap.

Definition at line 99 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::poses::CPose3D::asTPose(), mrpt::maps::CSimpleMap::clear(), mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), IS_CLASS, and mrpt::maps::CSimpleMap::size().

Here is the call graph for this function:

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::clearParticles ( )

inlineinherited

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

Definition at line 201 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CMultiMetricMapPDF::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ computeResampling()

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_count The desired number of output particles after resampling; 0 means don't modify the current number.

See also: performResampling

Definition at line 61 of file CParticleFilterCapable.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), mrpt::random::getRandomGenerator(), mrpt::math::maximum(), MRPT_END, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::prResidual, mrpt::bayes::CParticleFilter::prStratified, mrpt::bayes::CParticleFilter::prSystematic, R, and THROW_EXCEPTION.

Here is the call graph for this function:

◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CMultiMetricMapPDF::Create ( Args &&... args )

inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CMultiMetricMapPDF::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CMultiMetricMapPDF::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CMultiMetricMapPDF::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ defaultEvaluator()

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 68 of file CParticleFilterCapable.h.

References MRPT_UNUSED_PARAM.

◆ derived() [1/2]

const CMultiMetricMapPDF & mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

◆ derived() [2/2]

CMultiMetricMapPDF & mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 39 of file CParticleFilterData.h.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

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

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ESS()

double mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::ESS ( ) const

inlineoverridevirtualinherited

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 84 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::square().

◆ fastDrawSample()

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 486 of file CParticleFilterCapable.cpp.

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getAveragedMetricMapEstimation()

const CMultiMetricMap * CMultiMetricMapPDF::getAveragedMetricMapEstimation ( )

Returns the weighted averaged map based on the current best estimation.

If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy.

See also: Almost 100% sure you would prefer the best current map, given by getCurrentMostLikelyMetricMap()

Definition at line 281 of file CMultiMetricMapPDF.cpp.

◆ getClassName()

static constexpr auto mrpt::maps::CMultiMetricMapPDF::getClassName ( )

inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ getCurrentEntropyOfPaths()

double CMultiMetricMapPDF::getCurrentEntropyOfPaths ( )

Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance.

Definition at line 443 of file CMultiMetricMapPDF.cpp.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceEntropy().

Here is the call graph for this function:

◆ getCurrentJointEntropy()

double CMultiMetricMapPDF::getCurrentJointEntropy ( )

Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C.

Stachniss, G. Grissetti and W.Burgard.

Definition at line 473 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::maps::COccupancyGridMap2D::computeEntropy(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, min, and mrpt::maps::COccupancyGridMap2D::resizeGrid().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentJointEntropy().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getCurrentMostLikelyMetricMap()

const CMultiMetricMap * CMultiMetricMapPDF::getCurrentMostLikelyMetricMap ( ) const

Returns a pointer to the current most likely map (associated to the most likely particle)

Definition at line 524 of file CMultiMetricMapPDF.cpp.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap().

Here is the caller graph for this function:

◆ getEstimatedPosePDF()

void CMultiMetricMapPDF::getEstimatedPosePDF ( mrpt::poses::CPose3DPDFParticles & out_estimation ) const

Returns the current estimate of the robot pose, as a particles PDF.

See also: getEstimatedPosePDFAtTime

Definition at line 167 of file CMultiMetricMapPDF.cpp.

References ASSERT_.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

Here is the caller graph for this function:

◆ getEstimatedPosePDFAtTime()

void CMultiMetricMapPDF::getEstimatedPosePDFAtTime	(	size_t	timeStep,
		mrpt::poses::CPose3DPDFParticles &	out_estimation
	)		const

Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1.

See also: getEstimatedPosePDF

Definition at line 178 of file CMultiMetricMapPDF.cpp.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::clearParticles(), and mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.

Here is the call graph for this function:

◆ getLastPose()

TPose3D CMultiMetricMapPDF::getLastPose	(	const size_t	i,
		bool &	is_valid_pose
	)		const

overridevirtual

Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose.

Exceptions

std::exception on out-of-range particle index

Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.

Definition at line 264 of file CMultiMetricMapPDF.cpp.

References THROW_EXCEPTION.

◆ 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 154 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 159 of file COutputLogger.cpp.

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

Here is the caller graph for this function:

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

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

Here is the call graph for this function:

◆ 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 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

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

inlineinherited

See also: setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

Here is the caller graph for this function:

◆ getMostLikelyParticle()

const CParticleData* mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::getMostLikelyParticle ( ) const

inlineinherited

Returns the particle with the highest weight.

Definition at line 270 of file CParticleFilterData.h.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.

◆ getNumberOfObservationsInSimplemap()

size_t mrpt::maps::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap ( ) const

inline

Get the number of CSensoryFrame inserted into the internal member SFs.

Definition at line 198 of file CMultiMetricMapPDF.h.

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

Here is the call graph for this function:

◆ getPath()

void CMultiMetricMapPDF::getPath	(	size_t	i,
		std::deque< math::TPose3D > &	out_path
	)		const

Return the path (in absolute coordinate poses) for the i'th particle.

Exceptions

On	index out of bounds

Definition at line 433 of file CMultiMetricMapPDF.cpp.

References THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath().

Here is the caller graph for this function:

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMultiMetricMapPDF::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CMultiMetricMapPDF::GetRuntimeClassIdStatic ( )

static

◆ getW()

double mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::getW ( size_t i ) const

inlineoverridevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 40 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.

◆ getWeights()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::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 256 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.

◆ insertObservation()

bool CMultiMetricMapPDF::insertObservation ( mrpt::obs::CSensoryFrame & sf )

Insert an observation to the map, at each particle's pose and to each particle's metric map.

Parameters

sf	The SF to be inserted

Returns: true if any may was updated, false otherwise

Definition at line 401 of file CMultiMetricMapPDF.cpp.

References mrpt::obs::CSensoryFrame::insertObservationsInto().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ isLoggingLevelVisible()

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

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

Here is the caller graph for this function:

◆ log2linearWeights()

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 552 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ 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 131 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 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

Here is the call graph for this function:

◆ logFmt()

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

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

Here is the caller graph for this function:

◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

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

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

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

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

Here is the caller graph for this function:

◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

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

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

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

Here is the caller graph for this function:

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

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

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::normalizeWeights ( double * out_max_log_w = nullptr )

inlineoverridevirtualinherited

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

Parameters

out_max_log_w If 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 59 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.

◆ particlesCount()

size_t mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::particlesCount ( ) const

inlineoverridevirtualinherited

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 54 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived().

◆ performResampling()

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_count The 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.

◆ performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::performSubstitution ( const std::vector< size_t > & indx )

inlineoverridevirtualinherited

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 109 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::bayes::POINTER.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

double CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const size_t	particleIndexForMap,
		const mrpt::obs::CSensoryFrame &	observation,
		const mrpt::poses::CPose3D &	x
	)		const

overridevirtual

Evaluate the observation likelihood for one particle at a given location.

Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.

Definition at line 1012 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::maps::CMetricMap::computeObservationLikelihood(), and MRPT_UNUSED_PARAM.

Here is the call graph for this function:

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose() [1/2]

virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CRBPFParticleData *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

pure virtualinherited

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose() [2/2]

void CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CParticleDataContent *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

override

Definition at line 984 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::maps::CRBPFParticleData::robotPath.

◆ PF_SLAM_implementation_doWeHaveValidObservations() [1/2]

bool CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations	(	const CParticleList &	particles,
		const mrpt::obs::CSensoryFrame *	sf
	)		const

override

Definition at line 991 of file CMultiMetricMapPDF_RBPF.cpp.

References ASSERT_.

◆ PF_SLAM_implementation_doWeHaveValidObservations() [2/2]

virtual bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_doWeHaveValidObservations	(	const typename mrpt::bayes::CParticleFilterData< CRBPFParticleData , STORAGE >::CParticleList &	particles,
		const mrpt::obs::CSensoryFrame *	sf
	)		const

inlinevirtualinherited

Definition at line 260 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_gatherActionsCheckBothActObs()

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_gatherActionsCheckBothActObs	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf
	)

inherited

Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.

On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.

Definition at line 46 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFOptimal	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options
	)

protectedinherited

A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping.

BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:

J.L. Blanco, J. Gonzalez, and J.-A. Fernandez-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461-466.
BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:

J.-L. Blanco, J. Gonzalez, and J.-A. Fernandez-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461466.

Definition at line 155 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFStandard	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options
	)

protectedinherited

A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping.

BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

This method is described in the paper: Pitt, M.K.; Shephard, N. (1999). "Filtering Via Simulation: Auxiliary Particle Filters". Journal of the American Statistical Association 94 (446): 590-591. doi:10.2307/2670179.

Definition at line 404 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfStandardProposal()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_pfStandardProposal	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options
	)

protectedinherited

A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping.

BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

Definition at line 179 of file PF_implementations.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet()

virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_replaceByNewParticleSet	(	typename mrpt::bayes::CParticleFilterData< CRBPFParticleData , STORAGE >::CParticleList &	old_particles,
		const std::vector< mrpt::math::TPose3D > &	newParticles,
		const std::vector< double > &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

inlinevirtualinherited

This is the default algorithm to efficiently replace one old set of samples by another new set.

The method uses pointers to make fast copies the first time each particle is duplicated, then makes real copies for the next ones.

Note that more efficient specializations might exist for specific particle data structs.

Definition at line 177 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_skipRobotMovement()

bool CMultiMetricMapPDF::PF_SLAM_implementation_skipRobotMovement ( ) const

overridevirtual

Do not move the particles until the map is populated.

Reimplemented from mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.

Definition at line 1003 of file CMultiMetricMapPDF_RBPF.cpp.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_particlesEvaluator_AuxPFOptimal	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const mrpt::bayes::CParticleFilterCapable *	obj,
		size_t	index,
		const void *	action,
		const void *	observation
	)

staticprotectedinherited

Definition at line 424 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_particlesEvaluator_AuxPFStandard	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const mrpt::bayes::CParticleFilterCapable *	obj,
		size_t	index,
		const void *	action,
		const void *	observation
	)

staticprotectedinherited

Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.

Parameters

action	MUST be a "const CPose3D*"
observation	MUST be a "const CSensoryFrame*"
action	MUST be a "const mrpt::poses::CPose3D*"
observation	MUST be a "const CSensoryFrame*"

Definition at line 504 of file PF_implementations.h.

◆ prediction_and_update()

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 273 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal, mrpt::bayes::CParticleFilter::pfAuxiliaryPFStandard, mrpt::bayes::CParticleFilter::pfOptimalProposal, mrpt::bayes::CParticleFilter::pfStandardProposal, and THROW_EXCEPTION.

◆ prediction_and_update_pfAuxiliaryPFOptimal()

void CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFOptimal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overrideprotectedvirtual

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 from mrpt::bayes::CParticleFilterCapable.

Definition at line 143 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ prediction_and_update_pfAuxiliaryPFStandard()

void CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overrideprotectedvirtual

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 from mrpt::bayes::CParticleFilterCapable.

Definition at line 159 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ prediction_and_update_pfOptimalProposal()

void CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overrideprotectedvirtual

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

if (prior_dist_lin>0.10 || prior_dist_ang>DEG2RAD(3)) / printf(" >>>>>>>>>> %f %f\n",prior_dist_lin,RAD2DEG(prior_dist_ang));

COpenGLScene scene; opengl::CSetOfObjects *obj = new opengl::CSetOfObjects(); fusedObsModels.getAs3DObject( *obj ); scene.insert( obj ); CFileStream("debug.3Dscene",fomWrite) << scene; cout << "fusedObsModels # of modes: " << fusedObsModels.m_modes.size() << endl; printf("ESS: %f\n",fusedObsModels.ESS() ); cout << fusedObsModels.getEstimatedCovariance() << endl; mrpt::system::pause(); /

                                /
                                                            CPointPDFSOG
                            newObsModel;
                                                            (itBeacs)->generateObservationModelDistribution(
                                                                sensedRange,
                                                                newObsModel,
                                                                beacMap,

The beacon map, for options itObs->sensorLocationOnRobot,// Sensor location on robot centerPositionPrior, centerPositionPriorRadius ); /

Todo:: If there are 2+ sensors on the robot, compute phi?

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 188 of file CMultiMetricMapPDF_RBPF.cpp.

Here is the call graph for this function:

◆ prediction_and_update_pfStandardProposal()

void CMultiMetricMapPDF::prediction_and_update_pfStandardProposal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overrideprotectedvirtual

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 from mrpt::bayes::CParticleFilterCapable.

Definition at line 966 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ prepareFastDrawSample()

void CParticleFilterCapable::prepareFastDrawSample	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		TParticleProbabilityEvaluator	partEvaluator = `defaultEvaluator`,
		const void *	action = `nullptr`,
		const void *	observation = `nullptr`
	)		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 367 of file CParticleFilterCapable.cpp.

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::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 229 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::clearParticles(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, and mrpt::bayes::POINTER.

◆ rebuildAverageMap()

void CMultiMetricMapPDF::rebuildAverageMap ( )

private

Rebuild the "expected" grid map.

Used internally, do not call

Definition at line 287 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::map, min, MRPT_END, MRPT_START, mrpt::maps::COccupancyGridMap2D::resizeGrid(), and mrpt::maps::COccupancyGridMap2D::setSize().

Here is the call graph for this function:

◆ saveCurrentPathEstimationToTextFile()

void CMultiMetricMapPDF::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 570 of file CMultiMetricMapPDF.cpp.

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

Referenced by mrpt::slam::CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ serializeFrom() [1/2]

void CMultiMetricMapPDF::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 222 of file CMultiMetricMapPDF.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

Here is the call graph for this function:

◆ serializeGetVersion()

uint8_t CMultiMetricMapPDF::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 206 of file CMultiMetricMapPDF.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

Here is the call graph for this function:

◆ serializeTo() [2/2]

void CMultiMetricMapPDF::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 207 of file CMultiMetricMapPDF.cpp.

References mrpt::serialization::CArchive::WriteAs().

Here is the call graph for this function:

◆ setLoggerName()

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

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

Here is the caller graph for this function:

◆ 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 144 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().

Here is the caller graph for this function:

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

Here is the caller graph for this function:

◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::setW	(	size_t	i,
		double	w
	)

inlineoverridevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 47 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.

◆ updateSensoryFrameSequence()

void CMultiMetricMapPDF::updateSensoryFrameSequence ( )

Update the poses estimation of the member "SFs" according to the current path belief.

Definition at line 545 of file CMultiMetricMapPDF.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap().

Here is the caller graph for this function:

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) 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 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Here is the call graph for this function:

◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::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 207 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, and mrpt::bayes::POINTER.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ mrpt::slam::CMetricMapBuilderRBPF

friend class mrpt::slam::CMetricMapBuilderRBPF

friend

Definition at line 67 of file CMultiMetricMapPDF.h.

Member Data Documentation

◆ _init_CMultiMetricMapPDF

mrpt::rtti::CLASSINIT mrpt::maps::CMultiMetricMapPDF::_init_CMultiMetricMapPDF

staticprotected

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ averageMap

mrpt::maps::CMultiMetricMap mrpt::maps::CMultiMetricMapPDF::averageMap

private

Internal buffer for the averaged map.

Definition at line 96 of file CMultiMetricMapPDF.h.

◆ averageMapIsUpdated

bool mrpt::maps::CMultiMetricMapPDF::averageMapIsUpdated {false}

private

Definition at line 97 of file CMultiMetricMapPDF.h.

◆ className

constexpr const char* mrpt::maps::CMultiMetricMapPDF::className = "CMultiMetricMapPDF"

static

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

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 {false}

inherited

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

See also: writeLogToFile, getLogAsString

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

◆ m_accumRobotMovement2D

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_accumRobotMovement2D

protectedinherited

Definition at line 46 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_accumRobotMovement2DIsValid

protectedinherited

Definition at line 47 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_accumRobotMovement3D

protectedinherited

Definition at line 48 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_accumRobotMovement3DIsValid

protectedinherited

Definition at line 49 of file PF_implementations_data.h.

◆ m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary

mutableprotectedinherited

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

Definition at line 283 of file CParticleFilterCapable.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

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_movementDrawer

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_movementDrawer

protectedinherited

Used in al PF implementations.

See also: PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 53 of file PF_implementations_data.h.

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::m_particles

inherited

The array of particles.

Definition at line 195 of file CParticleFilterData.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 55 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 62 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 59 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

std::vector<bool> mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

protectedinherited

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFStandard_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 57 of file PF_implementations_data.h.

◆ newInfoIndex

float mrpt::maps::CMultiMetricMapPDF::newInfoIndex {0}

private

An index [0,1] measuring how much information an observation aports to the map (Typ.

threshold=0.07)

Definition at line 240 of file CMultiMetricMapPDF.h.

◆ options

mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::maps::CMultiMetricMapPDF::options

◆ PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< CRBPFParticleData , particle_storage_mode::POINTER >::PARTICLE_STORAGE

staticinherited

Definition at line 192 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CMultiMetricMapPDF::runtimeClassId

staticprotected

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ SF2robotPath

std::vector<uint32_t> mrpt::maps::CMultiMetricMapPDF::SF2robotPath

private

A mapping between indexes in the SFs to indexes in the robot paths from particles.

Definition at line 103 of file CMultiMetricMapPDF.h.

◆ SFs

mrpt::maps::CSimpleMap mrpt::maps::CMultiMetricMapPDF::SFs

private

The SFs and their corresponding pose estimations.

Definition at line 100 of file CMultiMetricMapPDF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize(), getNumberOfObservationsInSimplemap(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

RTTI stuff

Data members and methods used by generic PF implementations

Logging methods

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ CParticleData

◆ CParticleDataContent

◆ CParticleList

◆ Ptr

◆ TParticleProbabilityEvaluator

◆ UniquePtr

Constructor & Destructor Documentation

◆ CMultiMetricMapPDF() [1/2]

◆ CMultiMetricMapPDF() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ clear() [1/3]

◆ clear() [2/3]

◆ clear() [3/3]

◆ clearParticles()

◆ clone()

◆ computeResampling()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ defaultEvaluator()

◆ derived() [1/2]

◆ derived() [2/2]

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ ESS()

◆ fastDrawSample()

◆ getAveragedMetricMapEstimation()

◆ getClassName()

◆ getCurrentEntropyOfPaths()

◆ getCurrentJointEntropy()

◆ getCurrentMostLikelyMetricMap()

◆ getEstimatedPosePDF()

◆ getEstimatedPosePDFAtTime()

◆ getLastPose()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getMostLikelyParticle()

◆ getNumberOfObservationsInSimplemap()

◆ getPath()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getW()

◆ getWeights()

◆ insertObservation()

◆ isLoggingLevelVisible()

◆ log2linearWeights()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ normalizeWeights()

◆ particlesCount()