Detailed Description

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >

A set of common data shared by PF implementations for both SLAM and localization.

Definition at line 37 of file PF_implementations_data.h.

#include <mrpt/slam/PF_implementations_data.h>

Inheritance diagram for mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >:

Public Member Functions
	PF_implementation ()

template<class BINTYPE >
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...

template<class BINTYPE >
double	PF_SLAM_particlesEvaluator_AuxPFOptimal (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::CParticleFilterCapable obj, size_t index, [[maybe_unused]] const void action, const void *observation)

Virtual methods that the PF_implementations assume exist.
virtual mrpt::math::TPose3D	getLastPose (const size_t i, bool &is_valid_pose) const =0
	Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose. More...

virtual void	PF_SLAM_implementation_custom_update_particle_with_new_pose (PARTICLE_TYPE *particleData, const mrpt::math::TPose3D &newPose) const =0

virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE, 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 ([[maybe_unused]] const typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE, STORAGE >::CParticleList &particles, [[maybe_unused]] const mrpt::obs::CSensoryFrame *sf) const

virtual bool	PF_SLAM_implementation_skipRobotMovement () const
	Make a specialization if needed, eg. More...

virtual 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 =0
	Evaluate the observation likelihood for one particle at a given location. More...

Static Public Member Functions
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...

Protected Member Functions
The generic PF implementations for localization & SLAM.
template<class BINTYPE >
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...

template<class BINTYPE >
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...

template<class BINTYPE >
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
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
template<class BINTYPE >
void	PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options, const bool USE_OPTIMAL_SAMPLING)
	The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING. More...

template<class BINTYPE >
void	PF_SLAM_aux_perform_one_rejection_sampling_step (const bool USE_OPTIMAL_SAMPLING, const bool doResample, const double maxMeanLik, size_t k, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, mrpt::poses::CPose3D &out_newPose, double &out_newParticleLogWeight)

Data members and methods used by generic PF implementations
mrpt::obs::CActionRobotMovement2D	m_accumRobotMovement2D

bool	m_accumRobotMovement2DIsValid {false}

mrpt::poses::CPose3DPDFGaussian	m_accumRobotMovement3D

bool	m_accumRobotMovement3DIsValid {false}

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

template<class BINTYPE >
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...

template<class BINTYPE >
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)

Logging methods
void	logStr (const VerbosityLevel level, std::string_view 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)

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...

Constructor & Destructor Documentation

◆ PF_implementation()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_implementation ( )

inline

Definition at line 40 of file PF_implementations_data.h.

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

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

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getLastPose()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

virtual mrpt::math::TPose3D mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::getLastPose	(	const size_t	i,
		bool &	is_valid_pose
	)		const

pure virtual

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

Implemented in mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ 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().

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◆ 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().

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◆ 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 201 of file system/COutputLogger.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ isLoggingLevelVisible()

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

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

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

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

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◆ 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.

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◆ 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::hmtslam::CHMTSLAM::areaAbstraction(), 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(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ 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().

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◆ 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().

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◆ 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,
		std::string_view	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().

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◆ PF_SLAM_aux_perform_one_rejection_sampling_step()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_aux_perform_one_rejection_sampling_step	(	const bool	USE_OPTIMAL_SAMPLING,
		const bool	doResample,
		const double	maxMeanLik,
		size_t	k,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		mrpt::poses::CPose3D &	out_newPose,
		double &	out_newParticleLogWeight
	)

private

Definition at line 1025 of file PF_implementations.h.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

virtual double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::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

pure virtual

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

Implemented in mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

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

pure virtual

Implemented in mrpt::slam::CMonteCarloLocalization2D.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_replaceByNewParticleSet().

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◆ PF_SLAM_implementation_doWeHaveValidObservations()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

virtual bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_doWeHaveValidObservations	(	[[maybe_unused] ] const typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE, STORAGE >::CParticleList &	particles,
		[[maybe_unused] ] const mrpt::obs::CSensoryFrame *	sf
	)		const

inlinevirtual

Definition at line 260 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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
	)

protected

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()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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
	)

protected

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_pfAuxiliaryPFStandardAndOptimal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options,
		const bool	USE_OPTIMAL_SAMPLING
	)

private

The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING.

Definition at line 606 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfStandardProposal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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
	)

protected

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()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

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

inlinevirtual

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()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

virtual bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_skipRobotMovement ( ) const

inlinevirtual

Make a specialization if needed, eg.

in the first step in SLAM.

Reimplemented in mrpt::maps::CMultiMetricMapPDF.

Definition at line 269 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal() [1/2]

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

static double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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
	)

staticprotected

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal() [2/2]

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_particlesEvaluator_AuxPFOptimal	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const mrpt::bayes::CParticleFilterCapable *	obj,
		size_t	index,
		[[maybe_unused] ] const void *	action,
		const void *	observation
	)

Definition at line 424 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>

template<class BINTYPE >

double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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
	)

staticprotected

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 503 of file PF_implementations.h.

◆ 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(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ 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(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ 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(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ 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().

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Member Data Documentation

◆ 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 240 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 243 of file system/COutputLogger.h.

◆ m_accumRobotMovement2D

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement2D

protected

Definition at line 46 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement2DIsValid {false}

protected

Definition at line 47 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement3D

protected

Definition at line 48 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement3DIsValid {false}

protected

Definition at line 49 of file PF_implementations_data.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 253 of file system/COutputLogger.h.

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

◆ m_movementDrawer

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_movementDrawer

protected

Used in al PF implementations.

See also: PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 53 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 55 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 62 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 59 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

std::vector<bool> mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

protected

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFStandard_estimatedProb

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 57 of file PF_implementations_data.h.

Detailed Description

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE> class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Data members and methods used by generic PF implementations

Logging methods

Constructor & Destructor Documentation

◆ PF_implementation()

Member Function Documentation

◆ dumpLogToConsole()

◆ getLastPose()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ PF_SLAM_aux_perform_one_rejection_sampling_step()

◆ PF_SLAM_computeObservationLikelihoodForParticle()

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

◆ PF_SLAM_implementation_doWeHaveValidObservations()

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

◆ PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()

◆ PF_SLAM_implementation_pfStandardProposal()

◆ PF_SLAM_implementation_replaceByNewParticleSet()

◆ PF_SLAM_implementation_skipRobotMovement()

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal() [1/2]

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal() [2/2]

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_accumRobotMovement2D

◆ m_accumRobotMovement2DIsValid

◆ m_accumRobotMovement3D

◆ m_accumRobotMovement3DIsValid

◆ m_min_verbosity_level

◆ m_movementDrawer

◆ m_pfAuxiliaryPFOptimal_estimatedProb

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >