mrpt::slam Namespace Reference

Namespaces
	detail

Classes
class	CGridMapAligner
	A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching. More...
class	CICP
	Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. More...
class	CIncrementalMapPartitioner
	Finds partitions in metric maps based on N-cut graph partition theory. More...
class	CMetricMapBuilder
	This virtual class is the base for SLAM implementations. More...
class	CMetricMapBuilderICP
	A class for very simple 2D SLAM based on ICP. More...
class	CMetricMapBuilderRBPF
	This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM). More...
class	CMetricMapsAlignmentAlgorithm
	A base class for any algorithm able of maps alignment. More...
class	CMonteCarloLocalization2D
	Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
class	CMonteCarloLocalization3D
	Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples. More...
class	COccupancyGridMapFeatureExtractor
	A class for detecting features from occupancy grid maps. More...
class	CRangeBearingKFSLAM
	An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. More...
class	CRangeBearingKFSLAM2D
	An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks. More...
class	CRejectionSamplingRangeOnlyLocalization
	An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More...
struct	map_keyframe_t
	Map keyframe, comprising raw observations and they as a metric map. More...
class	PF_implementation
	A set of common data shared by PF implementations for both SLAM and localization. More...
struct	TAuxDataRecursiveJCBB
struct	TDataAssociationResults
	The results from mrpt::slam::data_association. More...
class	TKLDParams
	Option set for KLD algorithm. More...
struct	TMonteCarloLocalizationParams
	The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More...

Typedefs
using	similarity_func_t = std::function< double(const map_keyframe_t &kf1, const map_keyframe_t &kf2, const mrpt::poses::CPose3D &relPose2wrt1)>
	Type of similarity evaluator for map keyframes. More...

Enumerations
enum	TICPAlgorithm { icpClassic = 0, icpLevenbergMarquardt }
	The ICP algorithm selection, used in mrpt::slam::CICP::options mrpt_slam_grp. More...
enum	TICPCovarianceMethod { icpCovLinealMSE = 0, icpCovFiniteDifferences }
	ICP covariance estimation methods, used in mrpt::slam::CICP::options. More...
enum	similarity_method_t : uint8_t { smMETRIC_MAP_MATCHING = 0, smOBSERVATION_OVERLAP, smCUSTOM_FUNCTION }
	For use in CIncrementalMapPartitioner. More...

Functions
template<class PARTICLETYPE , class BINTYPE >
void	KLF_loadBinFromParticle (BINTYPE &outBin, const TKLDParams &opts, const PARTICLETYPE *currentParticleValue=nullptr, const mrpt::math::TPose3D *newPoseToBeInserted=nullptr)
template<>
void	KLF_loadBinFromParticle (mrpt::slam::detail::TPoseBin2D &outBin, const TKLDParams &opts, const CMonteCarloLocalization2D::CParticleDataContent *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<>
void	KLF_loadBinFromParticle (mrpt::slam::detail::TPoseBin3D &outBin, const TKLDParams &opts, const CMonteCarloLocalization3D::CParticleDataContent *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPoseBin3D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<>
void	KLF_loadBinFromParticle (detail::TPoseBin2D &outBin, const TKLDParams &opts, const mrpt::maps::CRBPFParticleData *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<>
void	KLF_loadBinFromParticle (detail::TPathBin2D &outBin, const TKLDParams &opts, const mrpt::maps::CRBPFParticleData *currentParticleValue, const TPose3D *newPoseToBeInserted)
	Fills out a "TPathBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...
template<typename T , TDataAssociationMetric METRIC>
double	joint_pdf_metric (const CMatrixDynamic< T > &Z_observations_mean, const CMatrixDynamic< T > &Y_predictions_mean, const CMatrixDynamic< T > &Y_predictions_cov, const TAuxDataRecursiveJCBB &info, const TDataAssociationResults &aux_data)
	Computes the joint distance metric (mahalanobis or matching likelihood) between two a set of associations. More...
template<TDataAssociationMetric METRIC>
bool	isCloser (const double v1, const double v2)
template<>
bool	isCloser< metricMaha > (const double v1, const double v2)
template<>
bool	isCloser< metricML > (const double v1, const double v2)
template<typename T , TDataAssociationMetric METRIC>
void	JCBB_recursive (const mrpt::math::CMatrixDynamic< T > &Z_observations_mean, const mrpt::math::CMatrixDynamic< T > &Y_predictions_mean, const mrpt::math::CMatrixDynamic< T > &Y_predictions_cov, TDataAssociationResults &results, const TAuxDataRecursiveJCBB &info, const observation_index_t curObsIdx)
Observations overlap functions
double	observationsOverlap (const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=nullptr)
	Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. More...
double	observationsOverlap (const mrpt::obs::CObservation::Ptr &o1, const mrpt::obs::CObservation::Ptr &o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=nullptr)
	Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. More...
double	observationsOverlap (const mrpt::obs::CSensoryFrame &sf1, const mrpt::obs::CSensoryFrame &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=nullptr)
	Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More...
double	observationsOverlap (const mrpt::obs::CSensoryFrame::Ptr &sf1, const mrpt::obs::CSensoryFrame::Ptr &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=nullptr)
	Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More...

Data association
enum	TDataAssociationMethod { assocNN = 0, assocJCBB }
	Different algorithms for data association, used in mrpt::slam::data_association. More...
enum	TDataAssociationMetric { metricMaha = 0, metricML }
	Different metrics for data association, used in mrpt::slam::data_association For a comparison of both methods see paper: More...
using	observation_index_t = size_t
	Used in mrpt::slam::TDataAssociationResults. More...
using	prediction_index_t = size_t
	Used in mrpt::slam::TDataAssociationResults. More...
void	data_association_full_covariance (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
	Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with prediction full cross-covariances. More...
void	data_association_independent_predictions (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
	Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with NO prediction cross-covariances. More...

Enumeration Type Documentation

TICPAlgorithm

enum mrpt::slam::TICPAlgorithm

The ICP algorithm selection, used in mrpt::slam::CICP::options mrpt_slam_grp.

Enumerator
icpClassic
icpLevenbergMarquardt

Definition at line 19 of file CICP.h.

Function Documentation

isCloser()

template<TDataAssociationMetric METRIC>

bool mrpt::slam::isCloser	(	const double	v1,
		const double	v2
	)

isCloser< metricMaha >()

template<>

bool mrpt::slam::isCloser< metricMaha >	(	const double	v1,
		const double	v2
	)

Definition at line 137 of file data_association.cpp.

isCloser< metricML >()

template<>

bool mrpt::slam::isCloser< metricML >	(	const double	v1,
		const double	v2
	)

Definition at line 143 of file data_association.cpp.

JCBB_recursive()

template<typename T , TDataAssociationMetric METRIC>

void mrpt::slam::JCBB_recursive	(	const mrpt::math::CMatrixDynamic< T > &	Z_observations_mean,
		const mrpt::math::CMatrixDynamic< T > &	Y_predictions_mean,
		const mrpt::math::CMatrixDynamic< T > &	Y_predictions_cov,
		TDataAssociationResults &	results,
		const TAuxDataRecursiveJCBB &	info,
		const observation_index_t	curObsIdx
	)

Definition at line 156 of file data_association.cpp.

References mrpt::slam::TAuxDataRecursiveJCBB::currentAssociation, mrpt::slam::TAuxDataRecursiveJCBB::nObservations, and results.

joint_pdf_metric()

template<typename T , TDataAssociationMetric METRIC>

double mrpt::slam::joint_pdf_metric	(	const CMatrixDynamic< T > &	Z_observations_mean,
		const CMatrixDynamic< T > &	Y_predictions_mean,
		const CMatrixDynamic< T > &	Y_predictions_cov,
		const TAuxDataRecursiveJCBB &	info,
		const TDataAssociationResults &	aux_data
	)

Computes the joint distance metric (mahalanobis or matching likelihood) between two a set of associations.

On "currentAssociation": maps "ID_obs" -> "ID_pred" For each landmark ID in the observations (ID_obs), its association in the predictions, that is: ID_pred = associations[ID_obs]

Definition at line 64 of file data_association.cpp.

References ASSERT_, mrpt::slam::TAuxDataRecursiveJCBB::currentAssociation, mrpt::math::MatrixBase< T, CMatrixDynamic< T > >::det(), mrpt::math::extractSubmatrixSymmetricalBlocksDyn(), mrpt::math::MatrixBase< T, CMatrixDynamic< T > >::inverse_LLt(), mrpt::slam::TAuxDataRecursiveJCBB::length_O, M_2PI, metricMaha, metricML, MRPT_UNUSED_PARAM, and mrpt::math::multiply_HCHt_scalar().

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KLF_loadBinFromParticle() [1/5]

template<class PARTICLETYPE , class BINTYPE >

void mrpt::slam::KLF_loadBinFromParticle	(	BINTYPE &	outBin,
		const TKLDParams &	opts,
		const PARTICLETYPE *	currentParticleValue = nullptr,
		const mrpt::math::TPose3D *	newPoseToBeInserted = nullptr
	)

KLF_loadBinFromParticle() [2/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	mrpt::slam::detail::TPoseBin3D &	outBin,
		const TKLDParams &	opts,
		const CMonteCarloLocalization3D::CParticleDataContent *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPoseBin3D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 35 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::math::TPose3D::pitch, mrpt::slam::detail::TPoseBin3D::pitch, mrpt::math::TPose3D::roll, mrpt::slam::detail::TPoseBin3D::roll, mrpt::round(), mrpt::math::TPose3D::x, mrpt::slam::detail::TPoseBin3D::x, mrpt::math::TPose3D::y, mrpt::slam::detail::TPoseBin3D::y, mrpt::math::TPose3D::yaw, mrpt::slam::detail::TPoseBin3D::yaw, mrpt::math::TPose3D::z, and mrpt::slam::detail::TPoseBin3D::z.

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KLF_loadBinFromParticle() [3/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	mrpt::slam::detail::TPoseBin2D &	outBin,
		const TKLDParams &	opts,
		const CMonteCarloLocalization2D::CParticleDataContent *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 41 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::slam::detail::TPoseBin2D::phi, mrpt::math::TPose2D::phi, mrpt::round(), mrpt::slam::detail::TPoseBin2D::x, mrpt::math::TPose2D::x, mrpt::math::TPose3D::x, mrpt::slam::detail::TPoseBin2D::y, mrpt::math::TPose2D::y, mrpt::math::TPose3D::y, and mrpt::math::TPose3D::yaw.

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KLF_loadBinFromParticle() [4/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	detail::TPoseBin2D &	outBin,
		const TKLDParams &	opts,
		const mrpt::maps::CRBPFParticleData *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPoseBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 46 of file CMultiMetricMapPDF_RBPF.cpp.

References ASSERT_, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::slam::detail::TPoseBin2D::phi, mrpt::maps::CRBPFParticleData::robotPath, mrpt::round(), mrpt::slam::detail::TPoseBin2D::x, mrpt::math::TPose3D::x, mrpt::slam::detail::TPoseBin2D::y, mrpt::math::TPose3D::y, and mrpt::math::TPose3D::yaw.

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KLF_loadBinFromParticle() [5/5]

template<>

void mrpt::slam::KLF_loadBinFromParticle	(	detail::TPathBin2D &	outBin,
		const TKLDParams &	opts,
		const mrpt::maps::CRBPFParticleData *	currentParticleValue,
		const TPose3D *	newPoseToBeInserted
	)

Fills out a "TPathBin2D" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 73 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::slam::detail::TPathBin2D::bins, mrpt::slam::TKLDParams::KLD_binSize_PHI, mrpt::slam::TKLDParams::KLD_binSize_XY, mrpt::maps::CRBPFParticleData::robotPath, mrpt::round(), mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, and mrpt::math::TPose3D::yaw.

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