mrpt::poses::CRobot2DPoseEstimator Class Reference

Detailed Description

A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization/SLAM data.

The implemented model is a state vector:

• TPose2D (x,y,phi) + TTwist2D (vx,vy,omega) The filter can be asked for an extrapolation for some arbitrary time ‘t’`, and it'll do a simple linear prediction. All methods are thread-safe.

Definition at line 29 of file CRobot2DPoseEstimator.h.

#include <mrpt/poses/CRobot2DPoseEstimator.h>

Classes
struct	TOptions

Public Member Functions
	CRobot2DPoseEstimator ()
	Default constructor. More...
virtual	~CRobot2DPoseEstimator ()
	Destructor. More...
void	reset ()
	Resets all internal state. More...
void	processUpdateNewPoseLocalization (const mrpt::math::TPose2D &newPose, mrpt::Clock::time_point tim)
	Updates the filter with new global-coordinates localization data from a localization or SLAM source. More...
void	processUpdateNewOdometry (const mrpt::math::TPose2D &newGlobalOdometry, mrpt::Clock::time_point cur_tim, bool hasVelocities=false, const mrpt::math::TTwist2D &newRobotVelLocal=mrpt::math::TTwist2D())
	Updates the filter with new odometry readings. More...
bool	getCurrentEstimate (mrpt::math::TPose2D &pose, mrpt::math::TTwist2D &velLocal, mrpt::math::TTwist2D &velGlobal, mrpt::Clock::time_point tim_query=mrpt::Clock::now()) const
	Get the estimate for a given timestamp (defaults to now()), obtained as: More...
bool	getLatestRobotPose (mrpt::math::TPose2D &pose) const
	Get the latest known robot pose, either from odometry or localization. More...
bool	getLatestRobotPose (mrpt::poses::CPose2D &pose) const

Public Attributes
TOptions	params
	parameters of the filter. More...

Static Private Member Functions
static void	extrapolateRobotPose (const mrpt::math::TPose2D &p, const mrpt::math::TTwist2D &robot_vel_local, const double delta_time, mrpt::math::TPose2D &new_p)
	An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time". More...

Private Attributes
std::mutex	m_cs
std::optional< mrpt::Clock::time_point >	m_last_loc_time
mrpt::math::TPose2D	m_last_loc
	Last pose as estimated by the localization/SLAM subsystem. More...
mrpt::math::TPose2D	m_loc_odo_ref
	The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings) More...
std::optional< mrpt::Clock::time_point >	m_last_odo_time
mrpt::math::TPose2D	m_last_odo
mrpt::math::TTwist2D	m_robot_vel_local
	Robot odometry-based velocity in a local frame of reference. More...

Constructor & Destructor Documentation

CRobot2DPoseEstimator()

CRobot2DPoseEstimator::CRobot2DPoseEstimator

(

)

Default constructor.

Definition at line 29 of file CRobot2DPoseEstimator.cpp.

~CRobot2DPoseEstimator()

CRobot2DPoseEstimator::~CRobot2DPoseEstimator ( )

virtualdefault

Destructor.

Member Function Documentation

extrapolateRobotPose()

void CRobot2DPoseEstimator::extrapolateRobotPose ( const mrpt::math::TPose2D &  p, const mrpt::math::TTwist2D &  robot_vel_local, const double  delta_time, mrpt::math::TPose2D &  new_p  )

staticprivate

An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time".

Definition at line 170 of file CRobot2DPoseEstimator.cpp.

References mrpt::poses::CPose2D::composePoint(), mrpt::math::TTwist2D::omega, mrpt::math::TPose2D::phi, R, mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::math::TPoint2D_data::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D_data::y, and mrpt::math::TPose2D::y.

Here is the call graph for this function:

getCurrentEstimate()

bool CRobot2DPoseEstimator::getCurrentEstimate	(	mrpt::math::TPose2D &	pose,
		mrpt::math::TTwist2D &	velLocal,
		mrpt::math::TTwist2D &	velGlobal,
		mrpt::Clock::time_point	tim_query = mrpt::Clock::now()
	)		const

Get the estimate for a given timestamp (defaults to now()), obtained as:

last_loc (+) [ last_odo (-) odo_ref ] (+) extrapolation_from_vw

Returns

true is the estimate can be trusted. False if the real observed data is too old or there is no valid data yet.

See also

getLatestRobotPose

Definition at line 109 of file CRobot2DPoseEstimator.cpp.

References mrpt::math::TPose2D::phi, mrpt::math::TTwist2D::rotate(), and mrpt::system::timeDifference().

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

Here is the call graph for this function:

Here is the caller graph for this function:

getLatestRobotPose() [1/2]

bool CRobot2DPoseEstimator::getLatestRobotPose

(

mrpt::math::TPose2D &

pose

)

const

Get the latest known robot pose, either from odometry or localization.

get the current estimate

This differs from getCurrentEstimate() in that this method does NOT extrapolate as getCurrentEstimate() does.

Returns

false if there is not estimation yet.

See also

getCurrentEstimate

Returns

true is the estimate can be trusted. False if the real observed data is too old.

Definition at line 142 of file CRobot2DPoseEstimator.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Here is the caller graph for this function:

getLatestRobotPose() [2/2]

bool CRobot2DPoseEstimator::getLatestRobotPose

(

mrpt::poses::CPose2D &

pose

)

const

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 206 of file CRobot2DPoseEstimator.cpp.

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

Here is the call graph for this function:

processUpdateNewOdometry()

void CRobot2DPoseEstimator::processUpdateNewOdometry	(	const mrpt::math::TPose2D &	newGlobalOdometry,
		mrpt::Clock::time_point	cur_tim,
		bool	hasVelocities = false,
		const mrpt::math::TTwist2D &	newRobotVelLocal = mrpt::math::TTwist2D()
	)

Updates the filter with new odometry readings.

Updates the filter so the pose is tracked to the current time.

Definition at line 70 of file CRobot2DPoseEstimator.cpp.

References MRPT_END, MRPT_START, and mrpt::system::timeDifference().

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

Here is the call graph for this function:

Here is the caller graph for this function:

processUpdateNewPoseLocalization()

void CRobot2DPoseEstimator::processUpdateNewPoseLocalization	(	const mrpt::math::TPose2D &	newPose,
		mrpt::Clock::time_point	tim
	)

Updates the filter with new global-coordinates localization data from a localization or SLAM source.

Updates the filter so the pose is tracked to the current time.

Parameters

tim	The timestamp of the sensor readings used to evaluate localization / SLAM.

Definition at line 52 of file CRobot2DPoseEstimator.cpp.

References mrpt::system::timeDifference().

Referenced by mrpt::slam::CMetricMapBuilderICP::initialize(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Here is the call graph for this function:

Here is the caller graph for this function:

reset()

void CRobot2DPoseEstimator::reset

(

)

Resets all internal state.

Definition at line 37 of file CRobot2DPoseEstimator.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::initialize().

Here is the caller graph for this function:

Member Data Documentation

m_cs

std::mutex mrpt::poses::CRobot2DPoseEstimator::m_cs

private

Definition at line 91 of file CRobot2DPoseEstimator.h.

m_last_loc

mrpt::math::TPose2D mrpt::poses::CRobot2DPoseEstimator::m_last_loc

private

Last pose as estimated by the localization/SLAM subsystem.

Definition at line 95 of file CRobot2DPoseEstimator.h.

m_last_loc_time

std::optional<mrpt::Clock::time_point> mrpt::poses::CRobot2DPoseEstimator::m_last_loc_time

private

Definition at line 93 of file CRobot2DPoseEstimator.h.

m_last_odo

mrpt::math::TPose2D mrpt::poses::CRobot2DPoseEstimator::m_last_odo

private

Definition at line 102 of file CRobot2DPoseEstimator.h.

m_last_odo_time

std::optional<mrpt::Clock::time_point> mrpt::poses::CRobot2DPoseEstimator::m_last_odo_time

private

Definition at line 101 of file CRobot2DPoseEstimator.h.

m_loc_odo_ref

mrpt::math::TPose2D mrpt::poses::CRobot2DPoseEstimator::m_loc_odo_ref

private

The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings)

Definition at line 99 of file CRobot2DPoseEstimator.h.

m_robot_vel_local

mrpt::math::TTwist2D mrpt::poses::CRobot2DPoseEstimator::m_robot_vel_local

private

Robot odometry-based velocity in a local frame of reference.

Definition at line 104 of file CRobot2DPoseEstimator.h.

params

TOptions mrpt::poses::CRobot2DPoseEstimator::params

parameters of the filter.

Definition at line 88 of file CRobot2DPoseEstimator.h.