Detailed Description

The configuration of a particle filter.

Definition at line 102 of file CParticleFilter.h.

#include <mrpt/bayes/CParticleFilter.h>

Inheritance diagram for mrpt::bayes::CParticleFilter::TParticleFilterOptions:

Public Member Functions
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const override
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

virtual void	dumpToTextStream (std::ostream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...

Public Attributes
bool	adaptiveSampleSize {false}
	A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false). More...

double	BETA {0.5}
	The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5) More...

unsigned int	sampleSize {1}
	The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1) More...

unsigned int	pfAuxFilterOptimal_MaximumSearchSamples {100}
	In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100) More...

double	powFactor {1}
	An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects). More...

TParticleFilterAlgorithm	PF_algorithm {pfStandardProposal}
	The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the possibilities. More...

TParticleResamplingAlgorithm	resamplingMethod {prMultinomial}
	The resampling algorithm to use (default=prMultinomial). More...

double	max_loglikelihood_dyn_range {15}
	Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded. More...

bool	pfAuxFilterStandard_FirstStageWeightsMonteCarlo {false}
	Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step. More...

bool	pfAuxFilterOptimal_MLE {false}
	(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage. More...

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 43 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream & out ) const

virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Definition at line 76 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ loadFromConfigFile()

void CParticleFilter::TParticleFilterOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 141 of file CParticleFilter.cpp.

References ASSERT_, iniFile(), MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, MRPT_START, and mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and run_test_pf_localization().

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

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

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◆ saveToConfigFile()

void CParticleFilter::TParticleFilterOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 102 of file CParticleFilter.cpp.

References adaptiveSampleSize, BETA, max_loglikelihood_dyn_range, MRPT_SAVE_CONFIG_VAR_COMMENT, PF_algorithm, pfAuxFilterOptimal_MaximumSearchSamples, pfAuxFilterOptimal_MLE, pfAuxFilterStandard_FirstStageWeightsMonteCarlo, powFactor, resamplingMethod, and sampleSize.

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 36 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

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Member Data Documentation

◆ adaptiveSampleSize

bool mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize {false}

A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false).

Definition at line 115 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilter::executeOn(), mrpt::bayes::CParticleFilterCapable::fastDrawSample(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfStandardProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample(), and saveToConfigFile().

◆ BETA

double mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA {0.5}

The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5)

Definition at line 118 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilter::executeOn(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and saveToConfigFile().

◆ max_loglikelihood_dyn_range

double mrpt::bayes::CParticleFilter::TParticleFilterOptions::max_loglikelihood_dyn_range {15}

Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded.

This is done to assure that the rejection sampling doesn't get stuck in an infinite loop trying to get an acceptable sample. Default = 15 (in logarithmic likelihood)

Definition at line 148 of file CParticleFilter.h.

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

◆ PF_algorithm

TParticleFilterAlgorithm mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm {pfStandardProposal}

The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the possibilities.

Definition at line 136 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilter::executeOn(), mrpt::bayes::CParticleFilterCapable::prediction_and_update(), and saveToConfigFile().

◆ pfAuxFilterOptimal_MaximumSearchSamples

unsigned int mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples {100}

In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100)

Definition at line 129 of file CParticleFilter.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFStandard(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and saveToConfigFile().

◆ pfAuxFilterOptimal_MLE

bool mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE {false}

(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage.

Definition at line 165 of file CParticleFilter.h.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_particlesEvaluator_AuxPFStandard(), and saveToConfigFile().

◆ pfAuxFilterStandard_FirstStageWeightsMonteCarlo

bool mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterStandard_FirstStageWeightsMonteCarlo {false}

Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step.

If true, these weights will be estimated as described in the papers for the "pfAuxiliaryPFOptimal" method, i.e. through a monte carlo simulation. In that case, "pfAuxFilterOptimal_MaximumSearchSamples" is the number of MC samples used.

Definition at line 159 of file CParticleFilter.h.

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

◆ powFactor

double mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor {1}

An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects).

Definition at line 133 of file CParticleFilter.h.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfStandardProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and saveToConfigFile().

◆ resamplingMethod

TParticleResamplingAlgorithm mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod {prMultinomial}

The resampling algorithm to use (default=prMultinomial).

Definition at line 138 of file CParticleFilter.h.

Referenced by mrpt::bayes::CParticleFilterCapable::fastDrawSample(), mrpt::bayes::CParticleFilterCapable::performResampling(), mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample(), and saveToConfigFile().

◆ sampleSize

unsigned int mrpt::bayes::CParticleFilter::TParticleFilterOptions::sampleSize {1}

The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1)

Definition at line 121 of file CParticleFilter.h.

Referenced by saveToConfigFile().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ adaptiveSampleSize

◆ BETA

◆ max_loglikelihood_dyn_range

◆ PF_algorithm

◆ pfAuxFilterOptimal_MaximumSearchSamples

◆ pfAuxFilterOptimal_MLE

◆ pfAuxFilterStandard_FirstStageWeightsMonteCarlo

◆ powFactor

◆ resamplingMethod

◆ sampleSize