Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose.

This class is also the base for the implementation of Monte-Carlo Localization (MCL), in mrpt::slam::CMonteCarloLocalization2D.

See the application "app/pf-localization" for an example of usage.

See also: CPose3D, CPose3DPDF, CPoseGaussianPDF

Definition at line 29 of file CPose3DPDFParticles.h.

#include <mrpt/poses/CPose3DPDFParticles.h>

Inheritance diagram for mrpt::poses::CPose3DPDFParticles:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose3D, STATE_LEN >

using	cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
	Covariance matrix type. More...

using	inf_mat_t = cov_mat_t
	Information matrix type. More...

using	CParticleDataContent = mrpt::math::TPose3D
	This is the type inside the corresponding CParticleData class. More...

using	CParticleData = CProbabilityParticle< mrpt::math::TPose3D, STORAGE >
	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
	CPose3DPDFParticles (size_t M=1)
	Constructor. More...

void	copyFrom (const CPose3DPDF &o) override
	Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...

void	resetDeterministic (const mrpt::math::TPose3D &location, size_t particlesCount=0)
	Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose. More...

void	resetUniform (const mrpt::math::TPose3D &corner_min, const mrpt::math::TPose3D &corner_max, const int particlesCount=-1)
	Reset the PDF to an uniformly distributed one, inside of the defined "cube". More...

void	getMean (CPose3D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More...

std::tuple< cov_mat_t, type_value >	getCovarianceAndMean () const override
	Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...

mrpt::math::TPose3D	getParticlePose (int i) const
	Returns the pose of the i'th particle. More...

bool	saveToTextFile (const std::string &file) const override
	Save PDF's m_particles to a text file. More...

size_t	size () const
	Get the m_particles count (equivalent to "particlesCount") More...

void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
	this = p (+) this. More...

void	drawSingleSample (CPose3D &outPart) const override
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...

void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
	Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum. More...

void	operator+= (const CPose3D &Ap)
	Appends (pose-composition) a given pose "p" to each particle. More...

void	append (CPose3DPDFParticles &o)
	Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. More...

void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

mrpt::math::TPose3D	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	Bayesian fusion. More...

template<class OPENGL_SETOFOBJECTSPTR >
void	getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
	Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR	getAs3DObject () const
	Returns a 3D representation of this PDF. 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...

virtual void	getMean (type_value &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual void	getCovarianceAndMean (cov_mat_t &c, CPose3D &mean) const final

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

type_value	getMeanVal () const
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

void	getCovariance (mrpt::math::CMatrixDouble &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

void	getCovariance (cov_mat_t &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

cov_mat_t	getCovariance () const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

virtual bool	isInfType () const
	Returns whether the class instance holds the uncertainty in covariance or information form. More...

virtual void	getInformationMatrix (inf_mat_t &inf) const
	Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...

virtual void	drawSingleSample (CPose3D &outPart) const=0
	Draws a single sample from the distribution. More...

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix. 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 CPose3DPDFParticles &	derived () const
	CRTP helper method. More...

CPose3DPDFParticles &	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...

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 CPose3DPDF *	createFrom2D (const CPosePDF &o)
	This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) More...

static void	jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
	This static method computes the pose composition Jacobians. More...

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

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
CParticleList	m_particles
	The array of particles. More...

Static Public Attributes
static constexpr size_t	state_length
	The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...

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...

virtual void	prediction_and_update_pfOptimalProposal (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 "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...

virtual void	prediction_and_update_pfAuxiliaryPFOptimal (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 "pfAuxiliaryPFOptimal" (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...

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

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPose3DPDFParticles >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DPDFParticles >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DPDFParticles >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DPDFParticles >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPose3DPDFParticles"

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::poses::CPose3DPDFParticles::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DPDFParticles >

Definition at line 39 of file CPose3DPDFParticles.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DPDFParticles::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DPDFParticles >

Definition at line 39 of file CPose3DPDFParticles.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>

inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ CParticleData

using mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::CParticleData = CProbabilityParticle<mrpt::math::TPose3D , STORAGE>

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< mrpt::math::TPose3D , STORAGE >::CParticleDataContent = mrpt::math::TPose3D

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 188 of file CParticleFilterData.h.

◆ CParticleList

using mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::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.

◆ inf_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

using mrpt::poses::CPose3DPDFParticles::Ptr = std::shared_ptr< mrpt::poses :: CPose3DPDFParticles >

A type for the associated smart pointer

Definition at line 39 of file CPose3DPDFParticles.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.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.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value = CPose3D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPose3DPDFParticles::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DPDFParticles >

Definition at line 39 of file CPose3DPDFParticles.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 101 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 106 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFParticles()

CPose3DPDFParticles::CPose3DPDFParticles ( size_t M = 1 )

Constructor.

Parameters

M	The number of m_particles.

Definition at line 28 of file CPose3DPDFParticles.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::_GetBaseClass ( )

staticprotected

◆ append()

void CPose3DPDFParticles::append ( CPose3DPDFParticles & o )

Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.

Definition at line 271 of file CPose3DPDFParticles.cpp.

References THROW_EXCEPTION.

◆ bayesianFusion()

void CPose3DPDFParticles::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtual

Bayesian fusion.

Implements mrpt::poses::CPose3DPDF.

Definition at line 304 of file CPose3DPDFParticles.cpp.

References THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFParticles::changeCoordinatesReference ( const CPose3D & newReferenceBase )

overridevirtual

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

Implements mrpt::poses::CPose3DPDF.

Definition at line 246 of file CPose3DPDFParticles.cpp.

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::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.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFParticles::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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◆ copyFrom()

void CPose3DPDFParticles::copyFrom ( const CPose3DPDF & o )

overridevirtual

Copy operator, translating if necesary (for example, between m_particles and gaussian representations)

Implements mrpt::poses::CPose3DPDF.

Definition at line 35 of file CPose3DPDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFParticles::Create ( Args &&... args )

inlinestatic

Definition at line 39 of file CPose3DPDFParticles.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DPDFParticles::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 39 of file CPose3DPDFParticles.h.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF & o )

staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)

Warning: It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.

See also: copyFrom

Definition at line 49 of file CPose3DPDF.cpp.

References ASSERT_, CLASS_ID, cov2to3(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

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◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DPDFParticles::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DPDFParticles::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 39 of file CPose3DPDFParticles.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 CPose3DPDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 35 of file CParticleFilterData.h.

◆ derived() [2/2]

CPose3DPDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 40 of file CParticleFilterData.h.

◆ drawManySamples()

void CPose3DPDFParticles::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

overridevirtual

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 259 of file CPose3DPDFParticles.cpp.

References THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFParticles::drawSingleSample ( CPose3D & outPart ) const

override

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 253 of file CPose3DPDFParticles.cpp.

References THROW_EXCEPTION.

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_3D().

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ 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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::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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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.; By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

See also: mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 122 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject ( ) const

inlineinherited

Returns a 3D representation of this PDF.

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.

Definition at line 133 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFParticles::getClassName ( )

inlinestatic

Definition at line 39 of file CPose3DPDFParticles.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( cov_mat_t & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also: getMean, getInformationMatrix

Definition at line 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose3D &	mean
	)		const

inlinefinalvirtualinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [2/2]

std::tuple< CMatrixDouble66, CPose3D > CPose3DPDFParticles::getCovarianceAndMean ( ) const

overridevirtual

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also: getMean

Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 70 of file CPose3DPDFParticles.cpp.

References ASSERT_, mrpt::math::cov(), M_2PI, mrpt::math::mean(), MRPT_END, MRPT_START, mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setZero(), mrpt::square(), and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPose3DPDFGrid::getCovarianceAndMean(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::apps::RBPF_SLAM_App_Base::run().

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		type_value &	mean_point
	)		const

inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

Definition at line 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceEntropy ( ) const

inlineinherited

Compute the entropy of the estimated covariance matrix.

See also: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getInformationMatrix ( inf_mat_t & inf ) const

inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also: getMean, getCovarianceAndMean

Definition at line 130 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( type_value & mean_point ) const

pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void CPose3DPDFParticles::getMean ( CPose3D & mean_pose ) const

override

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

See also: getCovariance

Definition at line 52 of file CPose3DPDFParticles.cpp.

References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::poses::CPoseInterpolatorBase< 3 >::filter(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::apps::RBPF_SLAM_App_Base::run().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovariance, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

◆ getMostLikelyParticle()

TPose3D CPose3DPDFParticles::getMostLikelyParticle ( ) const

Returns the particle with the highest weight.

Definition at line 289 of file CPose3DPDFParticles.cpp.

◆ getParticlePose()

mrpt::math::TPose3D CPose3DPDFParticles::getParticlePose ( int i ) const

Returns the pose of the i'th particle.

Definition at line 241 of file CPose3DPDFParticles.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFParticles::GetRuntimeClassIdStatic ( )

static

◆ getW()

double mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::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< mrpt::math::TPose3D , STORAGE >::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.

◆ inverse()

void CPose3DPDFParticles::inverse ( CPose3DPDF & o ) const

overridevirtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPose3DPDF.

Definition at line 276 of file CPose3DPDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and out.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ is_3D()

static constexpr bool mrpt::poses::CPose3DPDF::is_3D ( )

inlinestaticinherited

Definition at line 105 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose3DPDF::is_PDF ( )

inlinestaticinherited

Definition at line 110 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::isInfType ( ) const

inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note: By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.

See also: mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)

Definition at line 129 of file CPose3DPDF.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ 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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::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.

◆ operator+=()

void CPose3DPDFParticles::operator+= ( const CPose3D & Ap )

Appends (pose-composition) a given pose "p" to each particle.

Definition at line 266 of file CPose3DPDFParticles.cpp.

References THROW_EXCEPTION.

◆ particlesCount()

size_t mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::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 CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal	(	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 "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also: prediction_and_update

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

Definition at line 345 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

◆ 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 CParticleFilterCapable::prediction_and_update_pfOptimalProposal	(	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 "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also: prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.

Definition at line 333 of file CParticleFilterCapable.cpp.

References THROW_EXCEPTION.

◆ 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< mrpt::math::TPose3D , STORAGE >::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.

◆ resetDeterministic()

void CPose3DPDFParticles::resetDeterministic	(	const mrpt::math::TPose3D &	location,
		size_t	particlesCount = `0`
	)

Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

Parameters

location	The location to set all the m_particles.
particlesCount	If this is set to 0 the number of m_particles remains unchanged.

See also: resetUniform

Definition at line 311 of file CPose3DPDFParticles.cpp.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::poses::CPose3DPDFGrid::getCovarianceAndMean(), mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles(), and mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose().

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◆ resetUniform()

void CPose3DPDFParticles::resetUniform	(	const mrpt::math::TPose3D &	corner_min,
		const mrpt::math::TPose3D &	corner_max,
		const int	particlesCount = `-1`
	)

Reset the PDF to an uniformly distributed one, inside of the defined "cube".

Parameters

particlesCount New particle count, or leave count unchanged if set to -1 (default).

Note: Orientations can be outside of the [-pi,pi] range if so desired, but it must hold phi_max>=phi_min.

See also: resetDeterministic resetAroundSetOfPoses

Definition at line 323 of file CPose3DPDFParticles.cpp.

References mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

Referenced by pf2gauss_t< CMonteCarloLocalization3D >::resetUniform().

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◆ saveToTextFile()

bool CPose3DPDFParticles::saveToTextFile ( const std::string & file ) const

overridevirtual

Save PDF's m_particles to a text file.

In each line it will go: "x y z"

Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 223 of file CPose3DPDFParticles.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

Referenced by mrpt::apps::RBPF_SLAM_App_Base::run().

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◆ serializeFrom() [1/2]

void CPose3DPDFParticles::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 188 of file CPose3DPDFParticles.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 CPose3DPDFParticles::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 183 of file CPose3DPDFParticles.cpp.

◆ serializeTo() [1/2]

void CPose3DPDFParticles::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 184 of file CPose3DPDFParticles.cpp.

References out.

◆ serializeTo() [2/2]

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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◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::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.

◆ size()

size_t mrpt::poses::CPose3DPDFParticles::size ( ) const

inline

Get the m_particles count (equivalent to "particlesCount")

Definition at line 92 of file CPose3DPDFParticles.h.

References mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::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.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPose3DPDFParticles::className = "mrpt::poses" "::" "CPose3DPDFParticles"

static

Definition at line 39 of file CPose3DPDFParticles.h.

◆ 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_particles

CParticleList mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::m_particles

inherited

The array of particles.

Definition at line 196 of file CParticleFilterData.h.

Referenced by mrpt::slam::CMonteCarloLocalization3D::getLastPose(), mrpt::slam::CMonteCarloLocalization3D::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::slam::CMonteCarloLocalization3D::prediction_and_update_pfAuxiliaryPFStandard(), mrpt::slam::CMonteCarloLocalization3D::prediction_and_update_pfStandardProposal(), and size().

◆ PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::PARTICLE_STORAGE

staticinherited

Definition at line 193 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFParticles::runtimeClassId

staticprotected

Definition at line 39 of file CPose3DPDFParticles.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::state_length

staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 32 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ CParticleData

◆ CParticleDataContent

◆ CParticleList

◆ inf_mat_t

◆ Ptr

◆ self_t

◆ TParticleProbabilityEvaluator

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFParticles()

Member Function Documentation

◆ _GetBaseClass()

◆ append()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clearParticles()

◆ clone()

◆ computeResampling()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ createFrom2D()

◆ CreateObject()

◆ CreateUnique()

◆ defaultEvaluator()

◆ derived() [1/2]

◆ derived() [2/2]

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ ESS()

◆ fastDrawSample()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getClassName()

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getMostLikelyParticle()

◆ getParticlePose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getW()

◆ getWeights()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ log2linearWeights()

◆ normalizeWeights()

◆ operator+=()

◆ particlesCount()

◆ performResampling()