Detailed Description

This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs).

It has a set of particles representing the robot path in nearby poses.

See also: CHMTSLAM, CLSLAM_RBPF_2DLASER

Definition at line 65 of file CLocalMetricHypothesis.h.

#include <mrpt/hmtslam/CLocalMetricHypothesis.h>

Inheritance diagram for mrpt::hmtslam::CLocalMetricHypothesis:

Classes
struct	ThreadLocks

struct	TRobotPosesPartitioning
	Used by AA thread. More...

Public Types
using	CParticleDataContent = CLSLAMParticleData
	This is the type inside the corresponding CParticleData class. More...

using	CParticleData = CProbabilityParticle< CLSLAMParticleData, particle_storage_mode::POINTER >
	Use this to refer to each element in the m_particles array. More...

using	CParticleList = std::deque< CParticleData >
	Use this type to refer to the list of particles m_particles. More...

using	TParticleProbabilityEvaluator = double()(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable obj, size_t index, const void action, const void observation)
	A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". More...

Public Member Functions
	CLocalMetricHypothesis (CHMTSLAM *parent=nullptr)
	Constructor (Default param only used from STL classes) More...

	~CLocalMetricHypothesis () override

void	getAs3DScene (mrpt::opengl::CSetOfObjects::Ptr &objs) const
	Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. More...

void	getMeans (TMapPoseID2Pose3D &outList) const
	Returns the mean of each robot pose in this LMH, as computed from the set of particles. More...

void	getPathParticles (std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > &outList) const
	Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More...

void	getPoseParticles (const TPoseID &poseID, mrpt::poses::CPose3DPDFParticles &outPDF) const
	Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More...

void	getRelativePose (const TPoseID &reference, const TPoseID &pose, mrpt::poses::CPose3DPDFParticles &outPDF) const
	Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). More...

void	dumpAsText (std::vector< std::string > &st) const
	Describes the LMH in text. More...

void	changeCoordinateOrigin (const TPoseID &newOrigin)
	Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. More...

void	rebuildMetricMaps ()
	Rebuild the metric maps of all particles from the observations and their estimated poses. More...

void	clearRobotPoses ()
	Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. More...

const mrpt::poses::CPose3D *	getCurrentPose (size_t particleIdx) const
	Returns the i'th particle hypothesis for the current robot pose. More...

mrpt::poses::CPose3D *	getCurrentPose (size_t particleIdx)
	Returns the i'th particle hypothesis for the current robot pose. More...

void	removeAreaFromLMH (const CHMHMapNode::TNodeID areaID)
	Removes a given area from the LMH: More...

void	updateAreaFromLMH (const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false)
	The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. More...

void	clearParticles ()
	Free the memory of all the particles and reset the array "m_particles" to length zero. More...

void	writeParticlesToStream (STREAM &out) const
	Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More...

void	readParticlesFromStream (STREAM &in)
	Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More...

void	getWeights (std::vector< double > &out_logWeights) const
	Returns a vector with the sequence of the logaritmic weights of all the samples. More...

const CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

const CLocalMetricHypothesis &	derived () const
	CRTP helper method. More...

CLocalMetricHypothesis &	derived ()
	CRTP helper method. More...

double	getW (size_t i) const override
	Access to i'th particle (logarithm) weight, where first one is index 0. More...

void	setW (size_t i, double w) override
	Modifies i'th particle (logarithm) weight, where first one is index 0. More...

size_t	particlesCount () const override
	Get the m_particles count. More...

double	normalizeWeights (double *out_max_log_w=nullptr) override
	Normalize the (logarithmic) weights, such as the maximum weight is zero. More...

double	ESS () const override
	Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...

void	performSubstitution (const std::vector< size_t > &indx) override
	Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change. More...

void	prepareFastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void action=nullptr, const void observation=nullptr) const
	Prepares data structures for calling fastDrawSample method next. More...

size_t	fastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const
	Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). More...

void	prediction_and_update (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the prediction stage of the Particle Filter. More...

void	performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, size_t out_particle_count=0)
	Performs a resample of the m_particles, using the method selected in the constructor. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static double	defaultEvaluator ([[maybe_unused]] const bayes::CParticleFilter::TParticleFilterOptions &PF_options, [[maybe_unused]] const CParticleFilterCapable obj, size_t index, [[maybe_unused]] const void action, [[maybe_unused]] const void *observation)
	The default evaluator function, which simply returns the particle weight. More...

static void	computeResampling (CParticleFilter::TParticleResamplingAlgorithm method, const std::vector< double > &in_logWeights, std::vector< size_t > &out_indexes, size_t out_particle_count=0)
	A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. More...

static void	log2linearWeights (const std::vector< double > &in_logWeights, std::vector< double > &out_linWeights)
	A static method to compute the linear, normalized (the sum the unity) weights from log-weights. More...

Public Attributes
struct mrpt::hmtslam::CLocalMetricHypothesis::ThreadLocks	threadLocks

THypothesisID	m_ID
	The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). More...

mrpt::safe_ptr< CHMTSLAM >	m_parent
	For quick access to our parent object. More...

TPoseID	m_currentRobotPose
	The current robot pose (its global unique ID) for this hypothesis. More...

TNodeIDSet	m_neighbors
	The list of all areas sourronding the current one (this includes the current area itself). More...

std::map< TPoseID, CHMHMapNode::TNodeID >	m_nodeIDmemberships
	The hybrid map node membership for each robot pose. More...

std::map< TPoseID, mrpt::obs::CSensoryFrame >	m_SFs
	The SF gathered at each robot pose. More...

TPoseIDList	m_posesPendingAddPartitioner
	The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. More...

TNodeIDList	m_areasPendingTBI
	The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. More...

double	m_log_w
	Log-weight of this hypothesis. More...

std::vector< std::map< TPoseID, double > >	m_log_w_metric_history
	The historic log-weights of the metric observations inserted in this LMH, for each particle. More...

mrpt::obs::CActionRobotMovement2D	m_accumRobotMovement
	Used in CLSLAM_RBPF_2DLASER. More...

bool	m_accumRobotMovementIsValid
	Used in CLSLAM_RBPF_2DLASER. More...

struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning	m_robotPosesGraph

CParticleList	m_particles
	The array of particles. More...

Static Public Attributes
static const particle_storage_mode	PARTICLE_STORAGE

Protected Member Functions
virtual void	prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...

virtual void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

Virtual methods for Particle Filter implementation (just a wrapper
interface, actually implemented in CHMTSLAM::m_LSLAM_method)
void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	The PF algorithm implementation. More...

void	prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	The PF algorithm implementation. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
mrpt::math::CVectorDouble	m_pfAuxiliaryPFOptimal_estimatedProb
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< double >	m_maxLikelihood
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< mrpt::poses::CPose2D >	m_movementDraws
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

unsigned int	m_movementDrawsIdx
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< mrpt::poses::CPose2D >	m_movementDrawMaximumLikelihood
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

TFastDrawAuxVars	m_fastDrawAuxiliary
	Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...

Friends
class	CLSLAM_RBPF_2DLASER

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::hmtslam ::CLocalMetricHypothesis >

using	ConstPtr = std::shared_ptr< const mrpt::hmtslam ::CLocalMetricHypothesis >

using	UniquePtr = std::unique_ptr< mrpt::hmtslam ::CLocalMetricHypothesis >

using	ConstUniquePtr = std::unique_ptr< const mrpt::hmtslam ::CLocalMetricHypothesis >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::hmtslam" "::" "CLocalMetricHypothesis"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::hmtslam::CLocalMetricHypothesis::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CLocalMetricHypothesis >

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ ConstUniquePtr

using mrpt::hmtslam::CLocalMetricHypothesis::ConstUniquePtr = std::unique_ptr<const mrpt::hmtslam :: CLocalMetricHypothesis >

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ CParticleData

using mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::CParticleData = CProbabilityParticle<CLSLAMParticleData , particle_storage_mode::POINTER >

inherited

Use this to refer to each element in the m_particles array.

Definition at line 190 of file CParticleFilterData.h.

◆ CParticleDataContent

using mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::CParticleDataContent = CLSLAMParticleData

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 188 of file CParticleFilterData.h.

◆ CParticleList

using mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::CParticleList = std::deque<CParticleData>

inherited

Use this type to refer to the list of particles m_particles.

Definition at line 192 of file CParticleFilterData.h.

◆ Ptr

using mrpt::hmtslam::CLocalMetricHypothesis::Ptr = std::shared_ptr< mrpt::hmtslam :: CLocalMetricHypothesis >

A type for the associated smart pointer

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ TParticleProbabilityEvaluator

using mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator = double (*)( const bayes::CParticleFilter::TParticleFilterOptions& PF_options, const CParticleFilterCapable* obj, size_t index, const void* action, const void* observation)

inherited

A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample".

The default evaluator function "defaultEvaluator" simply returns the particle weight.

Parameters

index	This is the index of the particle its probability is being computed.
action	The value of this is the parameter passed to "prepareFastDrawSample"
observation	The value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility.

See also: prepareFastDrawSample

Definition at line 60 of file CParticleFilterCapable.h.

◆ UniquePtr

using mrpt::hmtslam::CLocalMetricHypothesis::UniquePtr = std::unique_ptr< mrpt::hmtslam :: CLocalMetricHypothesis >

Definition at line 74 of file CLocalMetricHypothesis.h.

Constructor & Destructor Documentation

◆ CLocalMetricHypothesis()

CLocalMetricHypothesis::CLocalMetricHypothesis ( CHMTSLAM * parent = nullptr )

Constructor (Default param only used from STL classes)

Definition at line 41 of file CLocalMetricHypothesis.cpp.

◆ ~CLocalMetricHypothesis()

CLocalMetricHypothesis::~CLocalMetricHypothesis ( )

override

Definition at line 52 of file CLocalMetricHypothesis.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass ( )

staticprotected

◆ changeCoordinateOrigin()

void CLocalMetricHypothesis::changeCoordinateOrigin ( const TPoseID & newOrigin )

Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well.

Definition at line 565 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::poses::CPose3D::asTPose(), CLASS_ID, and mrpt::maps::CSimpleMap::get().

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◆ clearParticles()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::clearParticles ( )

inlineinherited

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 202 of file CParticleFilterData.h.

◆ clearRobotPoses()

void CLocalMetricHypothesis::clearRobotPoses ( )

Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses.

Sets the number of particles to the initial number according to the PF options, and initialize them with no robot poses & empty metric maps.

Definition at line 489 of file CLocalMetricHypothesis.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CLocalMetricHypothesis::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ computeResampling()

void CParticleFilterCapable::computeResampling	(	CParticleFilter::TParticleResamplingAlgorithm	method,
		const std::vector< double > &	in_logWeights,
		std::vector< size_t > &	out_indexes,
		size_t	out_particle_count = `0`
	)

staticinherited

A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method.

It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling

Parameters

[in] out_particle_count The desired number of output particles after resampling; 0 means don't modify the current number.

See also: performResampling

Definition at line 61 of file CParticleFilterCapable.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), mrpt::random::getRandomGenerator(), mrpt::math::maximum(), MRPT_END, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::prResidual, mrpt::bayes::CParticleFilter::prStratified, mrpt::bayes::CParticleFilter::prSystematic, R, and THROW_EXCEPTION.

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◆ Create()

template<typename... Args>

static Ptr mrpt::hmtslam::CLocalMetricHypothesis::Create ( Args &&... args )

inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::hmtslam::CLocalMetricHypothesis::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CLocalMetricHypothesis::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::hmtslam::CLocalMetricHypothesis::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ defaultEvaluator()

static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator	(	[[maybe_unused] ] const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		[[maybe_unused] ] const CParticleFilterCapable *	obj,
		size_t	index,
		[[maybe_unused] ] const void *	action,
		[[maybe_unused] ] const void *	observation
	)

inlinestaticinherited

The default evaluator function, which simply returns the particle weight.

The action and the observation are declared as "void*" for a greater flexibility.

See also: prepareFastDrawSample

Definition at line 68 of file CParticleFilterCapable.h.

◆ derived() [1/2]

const CLocalMetricHypothesis & mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 35 of file CParticleFilterData.h.

◆ derived() [2/2]

CLocalMetricHypothesis & mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 40 of file CParticleFilterData.h.

◆ dumpAsText()

void CLocalMetricHypothesis::dumpAsText ( std::vector< std::string > & st ) const

Describes the LMH in text.

Definition at line 886 of file CLocalMetricHypothesis.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ ESS()

double mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::ESS ( ) const

inlineoverridevirtualinherited

Returns the normalized ESS (Estimated Sample Size), in the range [0,1].

Note that you do NOT need to normalize the weights before calling this.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 85 of file CParticleFilterData.h.

◆ fastDrawSample()

size_t CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions & PF_options ) const

inherited

Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm).

This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the Particle Filter tutorial.

NOTES:

You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
You do not need to call "normalizeWeights" before calling this.
See also
prepareFastDrawSample

Definition at line 478 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

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◆ getAs3DScene()

void CLocalMetricHypothesis::getAs3DScene ( mrpt::opengl::CSetOfObjects::Ptr & objs ) const

Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to.

The metric maps are not included here for convenience, call m_metricMaps.getAs3DScene(). The previous contents of "objs" will be discarded

Definition at line 60 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::opengl::stock_objects::CornerXYZ(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::opengl::CArrow::Create(), mrpt::format(), mrpt::poses::CPose3DPDFGaussian::mean, NODE_ANNOTATION_REF_POSEID, mrpt::poses::CPose3D::pitch(), mrpt::RAD2DEG(), mrpt::opengl::stock_objects::RobotPioneer(), mrpt::poses::CPose3D::roll(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

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◆ getClassName()

static constexpr auto mrpt::hmtslam::CLocalMetricHypothesis::getClassName ( )

inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ getCurrentPose() [1/2]

const CPose3D * CLocalMetricHypothesis::getCurrentPose ( size_t particleIdx ) const

Returns the i'th particle hypothesis for the current robot pose.

Definition at line 508 of file CLocalMetricHypothesis.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

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◆ getCurrentPose() [2/2]

CPose3D * CLocalMetricHypothesis::getCurrentPose ( size_t particleIdx )

Returns the i'th particle hypothesis for the current robot pose.

Definition at line 521 of file CLocalMetricHypothesis.cpp.

References ASSERT_, and THROW_EXCEPTION.

◆ getMeans()

void CLocalMetricHypothesis::getMeans ( TMapPoseID2Pose3D & outList ) const

Returns the mean of each robot pose in this LMH, as computed from the set of particles.

See also: getPathParticles, getRelativePose

Definition at line 410 of file CLocalMetricHypothesis.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

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◆ getMostLikelyParticle()

const CParticleData* mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::getMostLikelyParticle ( ) const

inlineinherited

Returns the particle with the highest weight.

Definition at line 271 of file CParticleFilterData.h.

◆ getPathParticles()

void CLocalMetricHypothesis::getPathParticles ( std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > & outList ) const

Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.

See also: getMeans, getPoseParticles

Definition at line 431 of file CLocalMetricHypothesis.cpp.

References MRPT_END, and MRPT_START.

◆ getPoseParticles()

void CLocalMetricHypothesis::getPoseParticles	(	const TPoseID &	poseID,
		mrpt::poses::CPose3DPDFParticles &	outPDF
	)		const

Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.

See also: getMeans, getPathParticles

Definition at line 464 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::math::internal::ProvideStaticResize< Derived >::size().

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::hmtslam::CHMTSLAM::perform_TLC().

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◆ getRelativePose()

void CLocalMetricHypothesis::getRelativePose	(	const TPoseID &	reference,
		const TPoseID &	pose,
		mrpt::poses::CPose3DPDFParticles &	outPDF
	)		const

Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH).

See also: getMeans, getPoseParticles

Definition at line 534 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::math::internal::ProvideStaticResize< Derived >::size().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClassIdStatic ( )

static

◆ getW()

double mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::getW ( size_t i ) const

inlineoverridevirtualinherited

Access to i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 41 of file CParticleFilterData.h.

◆ getWeights()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::getWeights ( std::vector< double > & out_logWeights ) const

inlineinherited

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 257 of file CParticleFilterData.h.

◆ log2linearWeights()

void CParticleFilterCapable::log2linearWeights	(	const std::vector< double > &	in_logWeights,
		std::vector< double > &	out_linWeights
	)

staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See also: performResampling

Definition at line 544 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::normalizeWeights ( double * out_max_log_w = nullptr )

inlineoverridevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters

out_max_log_w If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w.

Returns: The max/min ratio of weights ("dynamic range")

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 60 of file CParticleFilterData.h.

◆ particlesCount()

size_t mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::particlesCount ( ) const

inlineoverridevirtualinherited

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 55 of file CParticleFilterData.h.

◆ performResampling()

void CParticleFilterCapable::performResampling	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		size_t	out_particle_count = `0`
	)

inherited

Performs a resample of the m_particles, using the method selected in the constructor.

After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample"

Parameters

[in] out_particle_count The desired number of output particles after resampling; 0 means don't modify the current number.

See also: resample

Definition at line 29 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

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◆ performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::performSubstitution ( const std::vector< size_t > & indx )

inlineoverridevirtualinherited

Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 110 of file CParticleFilterData.h.

◆ prediction_and_update()

void CParticleFilterCapable::prediction_and_update	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

inherited

Performs the prediction stage of the Particle Filter.

This method simply selects the appropiate protected method according to the particle filter algorithm to run.

See also: prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

Definition at line 273 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal, mrpt::bayes::CParticleFilter::pfAuxiliaryPFStandard, mrpt::bayes::CParticleFilter::pfOptimalProposal, mrpt::bayes::CParticleFilter::pfStandardProposal, and THROW_EXCEPTION.

Referenced by mrpt::bayes::CParticleFilter::executeOn().

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◆ prediction_and_update_pfAuxiliaryPFOptimal()

void CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overrideprotectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 383 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

◆ prediction_and_update_pfAuxiliaryPFStandard()

void CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also: prediction_and_update

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

Definition at line 320 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

◆ prediction_and_update_pfOptimalProposal()

void CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overrideprotectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 394 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

◆ prediction_and_update_pfStandardProposal()

void CParticleFilterCapable::prediction_and_update_pfStandardProposal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also: prediction_and_update

Reimplemented in CRangeBearingParticleFilter, mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 307 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

◆ prepareFastDrawSample()

void CParticleFilterCapable::prepareFastDrawSample	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		TParticleProbabilityEvaluator	partEvaluator = `defaultEvaluator`,
		const void *	action = `nullptr`,
		const void *	observation = `nullptr`
	)		const

inherited

Prepares data structures for calling fastDrawSample method next.

This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see CParticleFilter::TParticleFilterOptions):

DYNAMIC SAMPLE SIZE=NO: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.
DYNAMIC SAMPLE SIZE=YES: Then:
- If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.
- For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.

The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the Particle Filter tutorial. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights.

See also: fastDrawSample

Definition at line 359 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, mrpt::math::maximum(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

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◆ readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::readParticlesFromStream ( STREAM & in )

inlineinherited

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See also: writeParticlesToStream

Definition at line 230 of file CParticleFilterData.h.

◆ rebuildMetricMaps()

void CLocalMetricHypothesis::rebuildMetricMaps ( )

Rebuild the metric maps of all particles from the observations and their estimated poses.

Definition at line 617 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC().

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◆ removeAreaFromLMH()

void CLocalMetricHypothesis::removeAreaFromLMH ( const CHMHMapNode::TNodeID areaID )

Removes a given area from the LMH:

The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
Robot poses belonging to that area are removed from:
- the particles.
- the graph partitioner.
- the list of SFs.
- the list m_nodeIDmemberships.
m_neighbors is updated.

The weights of all particles are changed to remove the effects of the removed metric observations.

After calling this the metric maps should be updated.

This method internally calls updateAreaFromLMH

The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
Robot poses belonging to that area are removed from:
- the particles.
- the graph partitioner.
- the list of SFs.
- the list m_nodeIDmemberships.
- The weights of all particles are changed to remove the effects of the removed metric observations.
After calling this the metric maps should be updated.

Definition at line 651 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::containers::list_searchable< T >::find(), mrpt::containers::list_searchable< T >::insert(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, and MRPT_START.

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◆ serializeFrom() [1/2]

void CLocalMetricHypothesis::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 914 of file CLocalMetricHypothesis.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CLocalMetricHypothesis::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 935 of file CLocalMetricHypothesis.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CLocalMetricHypothesis::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 936 of file CLocalMetricHypothesis.cpp.

References out.

◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::setW	(	size_t	i,
		double	w
	)

inlineoverridevirtualinherited

Modifies i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 48 of file CParticleFilterData.h.

◆ updateAreaFromLMH()

void CLocalMetricHypothesis::updateAreaFromLMH	(	const CHMHMapNode::TNodeID	areaID,
		bool	eraseSFsFromLMH = `false`
	)

The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin.

If eraseSFsFromLMH=true, the sensoryframes are moved rather than copied to the area, and removed from the LMH.

Note: The critical section m_map_cs is locked internally, unlock it before calling this.

Definition at line 782 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::containers::list_searchable< T >::insert(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::hmtslam::TPoseInfo::pdf, mrpt::hmtslam::TPoseInfo::sf, and mrpt::poses::CPose3DPDFParticles::size().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

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◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::writeParticlesToStream ( STREAM & out ) const

inlineinherited

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See also: readParticlesFromStream

Definition at line 208 of file CParticleFilterData.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ CLSLAM_RBPF_2DLASER

friend class CLSLAM_RBPF_2DLASER

friend

Definition at line 72 of file CLocalMetricHypothesis.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::hmtslam::CLocalMetricHypothesis::className = "mrpt::hmtslam" "::" "CLocalMetricHypothesis"

static

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ m_accumRobotMovement

mrpt::obs::CActionRobotMovement2D mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement

Used in CLSLAM_RBPF_2DLASER.

Definition at line 122 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ m_accumRobotMovementIsValid

bool mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid

Used in CLSLAM_RBPF_2DLASER.

Definition at line 124 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ m_areasPendingTBI

TNodeIDList mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI

The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures.

Set in CHMTSLAM::LSLAM_process_message_from_AA, read in

Definition at line 111 of file CLocalMetricHypothesis.h.

◆ m_currentRobotPose

TPoseID mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose

The current robot pose (its global unique ID) for this hypothesis.

Definition at line 94 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary

mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 282 of file CParticleFilterCapable.h.

◆ m_ID

THypothesisID mrpt::hmtslam::CLocalMetricHypothesis::m_ID

The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap).

Definition at line 90 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

◆ m_log_w

double mrpt::hmtslam::CLocalMetricHypothesis::m_log_w

Log-weight of this hypothesis.

Definition at line 114 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ m_log_w_metric_history

std::vector<std::map<TPoseID, double> > mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history

The historic log-weights of the metric observations inserted in this LMH, for each particle.

Definition at line 117 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ m_maxLikelihood

std::vector<double> mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 265 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_movementDrawMaximumLikelihood

std::vector<mrpt::poses::CPose2D> mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawMaximumLikelihood

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 274 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_movementDraws

std::vector<mrpt::poses::CPose2D> mrpt::hmtslam::CLocalMetricHypothesis::m_movementDraws

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 268 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_movementDrawsIdx

unsigned int mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawsIdx

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 271 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_neighbors

TNodeIDSet mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors

The list of all areas sourronding the current one (this includes the current area itself).

Definition at line 100 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

◆ m_nodeIDmemberships

std::map<TPoseID, CHMHMapNode::TNodeID> mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships

The hybrid map node membership for each robot pose.

Definition at line 102 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ m_parent

mrpt::safe_ptr<CHMTSLAM> mrpt::hmtslam::CLocalMetricHypothesis::m_parent

For quick access to our parent object.

Definition at line 92 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::m_particles

inherited

The array of particles.

Definition at line 196 of file CParticleFilterData.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

mrpt::math::CVectorDouble mrpt::hmtslam::CLocalMetricHypothesis::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 261 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_posesPendingAddPartitioner

TPoseIDList mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner

The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop.

Definition at line 107 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ m_robotPosesGraph

struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::hmtslam::CHMTSLAM::generateLogFiles(), and mrpt::hmtslam::CHMTSLAM::perform_TLC().

◆ m_SFs

std::map<TPoseID, mrpt::obs::CSensoryFrame> mrpt::hmtslam::CLocalMetricHypothesis::m_SFs

The SF gathered at each robot pose.

Definition at line 104 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::PARTICLE_STORAGE

staticinherited

Definition at line 193 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CLocalMetricHypothesis::runtimeClassId

staticprotected

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ threadLocks

struct mrpt::hmtslam::CLocalMetricHypothesis::ThreadLocks mrpt::hmtslam::CLocalMetricHypothesis::threadLocks

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ CParticleData

◆ CParticleDataContent

◆ CParticleList

◆ Ptr

◆ TParticleProbabilityEvaluator

◆ UniquePtr

Constructor & Destructor Documentation

◆ CLocalMetricHypothesis()

◆ ~CLocalMetricHypothesis()

Member Function Documentation

◆ _GetBaseClass()

◆ changeCoordinateOrigin()

◆ clearParticles()

◆ clearRobotPoses()

◆ clone()

◆ computeResampling()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ defaultEvaluator()

◆ derived() [1/2]

◆ derived() [2/2]

◆ dumpAsText()

◆ duplicateGetSmartPtr()

◆ ESS()

◆ fastDrawSample()

◆ getAs3DScene()

◆ getClassName()

◆ getCurrentPose() [1/2]

◆ getCurrentPose() [2/2]

◆ getMeans()

◆ getMostLikelyParticle()

◆ getPathParticles()

◆ getPoseParticles()

◆ getRelativePose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getW()

◆ getWeights()

◆ log2linearWeights()

◆ normalizeWeights()

◆ particlesCount()

◆ performResampling()

◆ performSubstitution()

◆ prediction_and_update()

◆ prediction_and_update_pfAuxiliaryPFOptimal()

◆ prediction_and_update_pfAuxiliaryPFStandard()

◆ prediction_and_update_pfOptimalProposal()

◆ prediction_and_update_pfStandardProposal()

◆ prepareFastDrawSample()

◆ readParticlesFromStream()

◆ rebuildMetricMaps()

◆ removeAreaFromLMH()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setW()

◆ updateAreaFromLMH()

◆ writeParticlesToStream()

◆ writeToMatlab()

Friends And Related Function Documentation

◆ CLSLAM_RBPF_2DLASER

Member Data Documentation