mrpt::slam::CMetricMapBuilderRBPF Class Reference

Detailed Description

This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.

This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.

A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.

For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.

Note

Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.

Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.

Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.

See also

CMetricMap

Definition at line 55 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF:

Classes
struct	TConstructionOptions
	Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More...
struct	TStats
	This structure will hold stats after each execution of processActionObservation. More...

Public Member Functions
	CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions)
	Constructor. More...
	CMetricMapBuilderRBPF ()
	This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF. More...
CMetricMapBuilderRBPF &	operator= (const CMetricMapBuilderRBPF &src)
	Copy Operator. More...
	~CMetricMapBuilderRBPF () override
	Destructor. More...
void	initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr) override
	Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map. More...
void	clear ()
	Clear all elements of the maps. More...
mrpt::poses::CPose3DPDF::Ptr	getCurrentPoseEstimation () const override
	Returns a copy of the current best pose estimation as a pose PDF. More...
void	getCurrentMostLikelyPath (std::deque< mrpt::math::TPose3D > &outPath) const
	Returns the current most-likely path estimation (the path associated to the most likely particle). More...
void	processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations) override
	Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...
void	getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const override
	Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
const mrpt::maps::CMultiMetricMap *	getCurrentlyBuiltMetricMap () const override
	Returns the map built so far. More...
unsigned int	getCurrentlyBuiltMapSize () override
	Returns just how many sensory-frames are stored in the currently build map. More...
void	saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true) override
	A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
void	drawCurrentEstimationToImage (mrpt::img::CCanvas *img)
	A useful method for debugging: draws the current map and path hypotheses to a CCanvas. 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...
double	getCurrentJointEntropy ()
void	enableMapUpdating (bool enable)
	Enables or disables the map updating (default state is enabled) More...
void	loadCurrentMapFromFile (const std::string &fileName)
	Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...
void	saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
	Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. 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...

Public Attributes
mrpt::maps::CMultiMetricMapPDF	mapPDF
	The map PDF: It includes a path and associated map for each particle. More...
TStats	m_statsLastIteration
	This structure will hold stats after each execution of processActionObservation. More...
TOptions	options

Protected Member Functions
void	enterCriticalSection ()
	Enter critical section for map updating. More...
void	leaveCriticalSection ()
	Leave critical section for map updating. More...

Protected Attributes
bayes::CParticleFilter::TParticleFilterOptions	m_PF_options
	The configuration of the particle filter. More...
float	insertionLinDistance
	Distances (linear and angular) for inserting a new observation into the map. More...
float	insertionAngDistance
float	localizeLinDistance
	Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). More...
float	localizeAngDistance
mrpt::poses::CPose3DPDFGaussian	odoIncrementSinceLastLocalization
	Traveled distance since last localization update. More...
mrpt::poses::CPose3D	odoIncrementSinceLastMapUpdate
	Traveled distance since last map update. More...
std::mutex	critZoneChangingMap
	Critical zones. More...
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

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, 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)

Constructor & Destructor Documentation

CMetricMapBuilderRBPF() [1/2]

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF

(

const TConstructionOptions &

initializationOptions

)

Constructor.

Definition at line 32 of file CMetricMapBuilderRBPF.cpp.

References clear(), mrpt::system::COutputLogger::setLoggerName(), mrpt::system::COutputLogger::setVerbosityLevel(), and mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level.

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CMetricMapBuilderRBPF() [2/2]

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF

(

)

This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF.

Definition at line 52 of file CMetricMapBuilderRBPF.cpp.

References MRPT_LOG_WARN, and mrpt::system::COutputLogger::setLoggerName().

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~CMetricMapBuilderRBPF()

CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF ( )

overridedefault

Destructor.

Member Function Documentation

clear()

void CMetricMapBuilderRBPF::clear

(

)

Clear all elements of the maps.

Definition at line 84 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::lockHelper(), mapPDF, MRPT_LOG_DEBUG, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, and mrpt::poses::CPose3D::setFromValues().

Referenced by CMetricMapBuilderRBPF(), and initialize().

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drawCurrentEstimationToImage()

void CMetricMapBuilderRBPF::drawCurrentEstimationToImage

(

mrpt::img::CCanvas *

img

)

A useful method for debugging: draws the current map and path hypotheses to a CCanvas.

Definition at line 364 of file CMetricMapBuilderRBPF.cpp.

References ASSERT_, mrpt::img::CH_GRAY, mrpt::img::CCanvas::drawImage(), mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), mrpt::img::CImage::getHeight(), mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mrpt::img::CCanvas::line(), mapPDF, MRPT_END, MRPT_START, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount(), mrpt::img::CImage::resize(), and mrpt::round().

Referenced by saveCurrentEstimationToImage().

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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.

enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool  enable )

inlineinherited

Enables or disables the map updating (default state is enabled)

Definition at line 104 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, and mrpt::slam::CMetricMapBuilder::options.

enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )

inlineprotectedinherited

Enter critical section for map updating.

Definition at line 38 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

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

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getCurrentJointEntropy()

double CMetricMapBuilderRBPF::getCurrentJointEntropy

(

)

Definition at line 486 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy(), and mapPDF.

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getCurrentlyBuiltMap()

void CMetricMapBuilderRBPF::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap &  out_map ) const

overridevirtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 344 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CMultiMetricMapPDF::updateSensoryFrameSequence().

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getCurrentlyBuiltMapSize()

unsigned int CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize ( )

overridevirtual

Returns just how many sensory-frames are stored in the currently build map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 359 of file CMetricMapBuilderRBPF.cpp.

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

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getCurrentlyBuiltMetricMap()

const CMultiMetricMap * CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap ( ) const

overridevirtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "clone()".

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 351 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), and mapPDF.

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getCurrentMostLikelyPath()

void CMetricMapBuilderRBPF::getCurrentMostLikelyPath

(

std::deque< mrpt::math::TPose3D > &

outPath

)

const

Returns the current most-likely path estimation (the path associated to the most likely particle).

Definition at line 323 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mapPDF, and mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount().

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getCurrentPoseEstimation()

CPose3DPDF::Ptr CMetricMapBuilderRBPF::getCurrentPoseEstimation ( ) const

overridevirtual

Returns a copy of the current best pose estimation as a pose PDF.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 305 of file CMetricMapBuilderRBPF.cpp.

References mrpt::poses::CPose3D::asTPose(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, and odoIncrementSinceLastLocalization.

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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(), processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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initialize()

void CMetricMapBuilderRBPF::initialize ( const mrpt::maps::CSimpleMap &  initialMap = mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *  x0 = nullptr  )

overridevirtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 275 of file CMetricMapBuilderRBPF.cpp.

References clear(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::maps::CSimpleMap::empty(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mrpt::lockHelper(), mapPDF, MRPT_LOG_INFO_STREAM, mrpt::maps::CSimpleMap::rbegin(), and mrpt::maps::CSimpleMap::size().

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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 processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )

inlineprotectedinherited

Leave critical section for map updating.

Definition at line 40 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

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

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loadCurrentMapFromFile()

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string &  fileName )

inherited

Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.

Definition at line 56 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), mrpt::slam::CMetricMapBuilder::initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.

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

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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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operator=()

CMetricMapBuilderRBPF & CMetricMapBuilderRBPF::operator=

(

const CMetricMapBuilderRBPF &

src

)

Copy Operator.

Definition at line 58 of file CMetricMapBuilderRBPF.cpp.

References insertionAngDistance, insertionLinDistance, localizeAngDistance, localizeLinDistance, m_PF_options, m_statsLastIteration, mapPDF, odoIncrementSinceLastLocalization, and odoIncrementSinceLastMapUpdate.

processActionObservation()

void CMetricMapBuilderRBPF::processActionObservation ( mrpt::obs::CActionCollection &  action, mrpt::obs::CSensoryFrame &  observations  )

overridevirtual

Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters

action	The incremental 2D pose change in the robot pose. This value is deterministic.
observations	The set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 103 of file CMetricMapBuilderRBPF.cpp.

References mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, ASSERT_, mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::cov(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::rtti::CListOfClasses::data, mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::obs::CActionRobotMovement3D::estimationMethod, mrpt::bayes::CParticleFilter::executeOn(), mrpt::format(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::obs::CActionCollection::insert(), insertionAngDistance, insertionLinDistance, mrpt::maps::CMultiMetricMapPDF::insertObservation(), mrpt::system::COutputLogger::isLoggingLevelVisible(), localizeAngDistance, localizeLinDistance, mrpt::lockHelper(), mrpt::system::LVL_INFO, mrpt::bayes::CParticleFilter::m_options, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, m_PF_options, m_statsLastIteration, mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::norm(), mrpt::slam::CMetricMapBuilderRBPF::TStats::observationsInserted, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, mrpt::slam::CMetricMapBuilder::options, mrpt::obs::CActionRobotMovement3D::poseChange, mrpt::RAD2DEG(), mrpt::poses::CPose3D::setFromValues(), mrpt::system::COutputLogger::setVerbosityLevel(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::maps::CMultiMetricMapPDF::SFs, mrpt::maps::CSimpleMap::size(), mrpt::obs::CAction::timestamp, and mrpt::poses::CPose3D::yaw().

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saveCurrentEstimationToImage()

void CMetricMapBuilderRBPF::saveCurrentEstimationToImage ( const std::string &  file, bool  formatEMF_BMP = true  )

overridevirtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters

file	The output file name
formatEMF_BMP	Output format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 461 of file CMetricMapBuilderRBPF.cpp.

References mrpt::img::CH_GRAY, drawCurrentEstimationToImage(), MRPT_END, MRPT_START, and mrpt::img::CImage::saveToFile().

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saveCurrentMapToFile()

void CMetricMapBuilder::saveCurrentMapToFile ( const std::string &  fileName, bool  compressGZ = true  ) const

inherited

Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.

Definition at line 88 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), and mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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saveCurrentPathEstimationToTextFile()

void CMetricMapBuilderRBPF::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 494 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, and mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile().

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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(), 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(), CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), 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

critZoneChangingMap

std::mutex mrpt::slam::CMetricMapBuilder::critZoneChangingMap

protectedinherited

Critical zones.

Definition at line 36 of file CMetricMapBuilder.h.

Referenced by clear(), mrpt::slam::CMetricMapBuilder::enterCriticalSection(), mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), mrpt::slam::CMetricMapBuilderICP::initialize(), initialize(), mrpt::slam::CMetricMapBuilder::leaveCriticalSection(), processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

insertionAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance

protected

Definition at line 67 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance

protected

Distances (linear and angular) for inserting a new observation into the map.

Definition at line 67 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

localizeAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance

protected

Definition at line 71 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance

protected

Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).

Definition at line 71 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

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_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_PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::m_PF_options

protected

The configuration of the particle filter.

Definition at line 63 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

m_statsLastIteration

TStats mrpt::slam::CMetricMapBuilderRBPF::m_statsLastIteration

This structure will hold stats after each execution of processActionObservation.

Definition at line 203 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

mapPDF

mrpt::maps::CMultiMetricMapPDF mrpt::slam::CMetricMapBuilderRBPF::mapPDF

The map PDF: It includes a path and associated map for each particle.

Definition at line 59 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), drawCurrentEstimationToImage(), getCurrentJointEntropy(), getCurrentlyBuiltMap(), getCurrentlyBuiltMapSize(), getCurrentlyBuiltMetricMap(), getCurrentMostLikelyPath(), getCurrentPoseEstimation(), initialize(), operator=(), processActionObservation(), and saveCurrentPathEstimationToTextFile().

odoIncrementSinceLastLocalization

mrpt::poses::CPose3DPDFGaussian mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastLocalization

protected

Traveled distance since last localization update.

Definition at line 74 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), getCurrentPoseEstimation(), operator=(), and processActionObservation().

odoIncrementSinceLastMapUpdate

mrpt::poses::CPose3D mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastMapUpdate

protected

Traveled distance since last map update.

Definition at line 76 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), operator=(), and processActionObservation().

options

TOptions mrpt::slam::CMetricMapBuilder::options

inherited

Definition at line 141 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilder::enableMapUpdating(), processActionObservation(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::apps::ICP_SLAM_App_Base::run().