Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples.

This class also implements particle filtering for robot localization. See the MRPT application "app/pf-localization" for an example of usage.

See also: CMonteCarloLocalization3D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 37 of file CMonteCarloLocalization2D.h.

#include <mrpt/slam/CMonteCarloLocalization2D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization2D:

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose2D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose2D, 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::TPose2D
	This is the type inside the corresponding CParticleData class. More...

using	CParticleData = CProbabilityParticle< mrpt::math::TPose2D, 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
	CMonteCarloLocalization2D (size_t M=1)
	Constructor. More...

	~CMonteCarloLocalization2D () override
	Destructor. More...

void	resetUniformFreeSpace (mrpt::maps::COccupancyGridMap2D *theMap, const double freeCellsThreshold=0.7, const int particlesCount=-1, const double x_min=-1e10f, const double x_max=1e10f, const double y_min=-1e10f, const double y_max=1e10f, const double phi_min=-M_PI, const double phi_max=M_PI)
	Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map. More...

void	prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...

void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...

void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...

void	clear ()
	Free all the memory associated to m_particles, and set the number of parts = 0. More...

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

void	resetDeterministic (const mrpt::math::TPose2D &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 double x_min, const double x_max, const double y_min, const double y_max, const double phi_min=-M_PI, const double phi_max=M_PI, const int particlesCount=-1)
	Reset the PDF to an uniformly distributed one, inside of the defined 2D area `[x_min,x_max]x[y_min,y_max]` (in meters) and for orientations `[phi_min, phi_max]` (in radians). More...

void	resetAroundSetOfPoses (const std::vector< mrpt::math::TPose2D > &list_poses, const size_t num_particles_per_pose, const double spread_x, const double spread_y, const double spread_phi_rad)
	Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be `list_poses.size() * num_particles_per_pose`. More...

void	getMean (CPose2D &mean_pose) const override

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

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

virtual void	getCovarianceAndMean (cov_mat_t &c, CPose2D &mean) const final

mrpt::math::TPose2D	getParticlePose (size_t 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 (CPose2D &outPart) const override
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...

virtual void	drawSingleSample (CPose2D &outPart) const=0
	Draws a single sample from the distribution. More...

void	operator+= (const mrpt::math::TPose2D &Ap)
	Appends (pose-composition) a given pose "p" to each particle. More...

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

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

mrpt::math::TPose2D	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
	Bayesian fusion. More...

double	evaluatePDF_parzen (const double x, const double y, const double phi, const double stdXY, const double stdPhi) const
	Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window. More...

void	saveParzenPDFToTextFile (const char *fileName, const double x_min, const double x_max, const double y_min, const double y_max, const double phi, const double stepSizeXY, const double stdXY, const double stdPhi) const
	Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window. 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...

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	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. 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 CPosePDFParticles &	derived () const
	CRTP helper method. More...

CPosePDFParticles &	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...

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

bool	PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf)
	Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing. More...

Virtual methods that the PF_implementations assume exist.
mrpt::math::TPose3D	getLastPose (const size_t i, bool &is_valid_pose) const override
	Return the robot pose for the i'th particle. More...

void	PF_SLAM_implementation_custom_update_particle_with_new_pose (mrpt::math::TPose2D *particleData, const mrpt::math::TPose3D &newPose) const override

void	PF_SLAM_implementation_replaceByNewParticleSet (CParticleList &old_particles, const std::vector< mrpt::math::TPose3D > &newParticles, const std::vector< double > &newParticlesWeight, const std::vector< size_t > &newParticlesDerivedFromIdx) const override

double	PF_SLAM_computeObservationLikelihoodForParticle (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const size_t particleIndexForMap, const mrpt::obs::CSensoryFrame &observation, const mrpt::poses::CPose3D &x) const override
	Evaluate the observation likelihood for one particle at a given location. 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...

Virtual methods that the PF_implementations assume exist.
virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, STORAGE >::CParticleList &old_particles, const std::vector< mrpt::math::TPose3D > &newParticles, const std::vector< double > &newParticlesWeight, const std::vector< size_t > &newParticlesDerivedFromIdx) const
	This is the default algorithm to efficiently replace one old set of samples by another new set. More...

virtual bool	PF_SLAM_implementation_doWeHaveValidObservations ([[maybe_unused]] const typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, STORAGE >::CParticleList &particles, [[maybe_unused]] const mrpt::obs::CSensoryFrame *sf) const

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

Static Public Member Functions
static void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
	This static method computes the pose composition Jacobians, with these formulas: More...

static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)

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...

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
TMonteCarloLocalizationParams	options
	MCL parameters. More...

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_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...

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...

The generic PF implementations for localization & SLAM.
void	PF_SLAM_implementation_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
	A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping. More...

void	PF_SLAM_implementation_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
	A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping. More...

void	PF_SLAM_implementation_pfStandardProposal (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
	A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping. More...

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

VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

RTTI stuff
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...

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

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

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

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)

Data members and methods used by generic PF implementations
static double	PF_SLAM_particlesEvaluator_AuxPFStandard (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::CParticleFilterCapable obj, size_t index, const void action, const void *observation)
	Compute w[i]*p(z_t \| mu_t^i), with mu_t^i being the mean of the new robot pose. More...

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

mrpt::obs::CActionRobotMovement2D	m_accumRobotMovement2D

bool	m_accumRobotMovement2DIsValid

mrpt::poses::CPose3DPDFGaussian	m_accumRobotMovement3D

bool	m_accumRobotMovement3DIsValid

mrpt::poses::CPoseRandomSampler	m_movementDrawer
	Used in al PF implementations. More...

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

mrpt::math::CVectorDouble	m_pfAuxiliaryPFStandard_estimatedProb
	Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm. More...

mrpt::math::CVectorDouble	m_pfAuxiliaryPFOptimal_maxLikelihood
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< mrpt::math::TPose3D >	m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< bool >	m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Typedef Documentation

◆ ConstPtr

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

inherited

Definition at line 40 of file CPosePDFParticles.h.

◆ ConstUniquePtr

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

inherited

Definition at line 40 of file CPosePDFParticles.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , 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::TPose2D , STORAGE >::CParticleData = CProbabilityParticle<mrpt::math::TPose2D , 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::TPose2D , STORAGE >::CParticleDataContent = mrpt::math::TPose2D

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::TPose2D , 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< CPose2D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

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

inherited

A type for the associated smart pointer

Definition at line 40 of file CPosePDFParticles.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose2D , 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< CPose2D , STATE_LEN >::type_value = CPose2D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

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

inherited

Definition at line 40 of file CPosePDFParticles.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 94 of file CPosePDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 99 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CMonteCarloLocalization2D()

CMonteCarloLocalization2D::CMonteCarloLocalization2D ( size_t M = 1 )

Constructor.

Parameters

M	The number of m_particles.

Definition at line 70 of file CMonteCarloLocalization2D.cpp.

References mrpt::system::COutputLogger::setLoggerName().

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◆ ~CMonteCarloLocalization2D()

CMonteCarloLocalization2D::~CMonteCarloLocalization2D ( )

overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotectedinherited

◆ append()

void CPosePDFParticles::append ( CPosePDFParticles & o )

inherited

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

Definition at line 309 of file CPosePDFParticles.cpp.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.

◆ bayesianFusion()

void CPosePDFParticles::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double	minMahalanobisDistToDrop = `0`
	)

overridevirtualinherited

Bayesian fusion.

Implements mrpt::poses::CPosePDF.

Definition at line 344 of file CPosePDFParticles.cpp.

References THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPosePDFParticles::changeCoordinatesReference ( const CPose3D & newReferenceBase )

overridevirtualinherited

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::CPosePDF.

Definition at line 278 of file CPosePDFParticles.cpp.

References mrpt::poses::CPose2D::asTPose().

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◆ clear()

void CPosePDFParticles::clear ( )

inherited

Free all the memory associated to m_particles, and set the number of parts = 0.

Definition at line 87 of file CPosePDFParticles.cpp.

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , 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::CPosePDFParticles::clone ( ) const

overridevirtualinherited

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 CPosePDFParticles::copyFrom ( const CPosePDF & o )

overridevirtualinherited

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

Implements mrpt::poses::CPosePDF.

Definition at line 44 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

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◆ Create()

template<typename... Args>

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

inlinestaticinherited

Definition at line 40 of file CPosePDFParticles.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestaticinherited

Definition at line 40 of file CPosePDFParticles.h.

◆ CreateObject()

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

staticinherited

◆ CreateUnique()

template<typename... Args>

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

inlinestaticinherited

Definition at line 40 of file CPosePDFParticles.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 CPosePDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 35 of file CParticleFilterData.h.

◆ derived() [2/2]

CPosePDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 40 of file CParticleFilterData.h.

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Reimplemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.

Definition at line 151 of file CProbabilityDensityFunction.h.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::drawSingleSample().

◆ drawSingleSample() [1/2]

void CPosePDFParticles::drawSingleSample ( CPose2D & outPart ) const

overrideinherited

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

Definition at line 285 of file CPosePDFParticles.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), and mrpt::random::getRandomGenerator().

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_2D().

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

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

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ 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< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, 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.

◆ evaluatePDF_parzen()

double CPosePDFParticles::evaluatePDF_parzen	(	const double	x,
		const double	y,
		const double	phi,
		const double	stdXY,
		const double	stdPhi
	)		const

inherited

Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window.

See also: saveParzenPDFToTextFile

Definition at line 351 of file CPosePDFParticles.cpp.

References mrpt::math::normalPDF(), mrpt::square(), and mrpt::math::wrapToPi().

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◆ 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::CPosePDF::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()

Definition at line 113 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 124 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

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

inlinestaticinherited

Definition at line 40 of file CPosePDFParticles.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose2D &	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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::mean().

◆ getCovarianceAndMean() [2/2]

std::tuple< CMatrixDouble33, CPose2D > CPosePDFParticles::getCovarianceAndMean ( ) const

overridevirtualinherited

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

See also: getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 108 of file CPosePDFParticles.cpp.

References mrpt::math::cov(), M_2PI, mrpt::math::mean(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::square(), and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGrid::getCovarianceAndMean(), and run_test_pf_localization().

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), and mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt().

◆ getLastPose()

TPose3D CMonteCarloLocalization2D::getLastPose	(	const size_t	i,
		bool &	is_valid_pose
	)		const

overridevirtual

Return the robot pose for the i'th particle.

is_valid is always true in this class.

Implements mrpt::slam::PF_implementation< mrpt::math::TPose2D, CMonteCarloLocalization2D, mrpt::poses::CPosePDFParticles::PARTICLE_STORAGE >.

Definition at line 77 of file CMonteCarloLocalization2D.cpp.

References mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, and THROW_EXCEPTION.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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 CPosePDFParticles::getMean ( CPose2D & mean_pose ) const

overrideinherited

Definition at line 88 of file CPosePDFParticles.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

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

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

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◆ getMostLikelyParticle()

mrpt::math::TPose2D CPosePDFParticles::getMostLikelyParticle ( ) const

inherited

Returns the particle with the highest weight.

Definition at line 329 of file CPosePDFParticles.cpp.

◆ getParticlePose()

TPose2D CPosePDFParticles::getParticlePose ( size_t i ) const

inherited

Returns the pose of the i'th particle.

Definition at line 273 of file CPosePDFParticles.cpp.

◆ GetRuntimeClass()

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

overridevirtualinherited

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

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

staticinherited

◆ getW()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, 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::TPose2D , 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 CPosePDFParticles::inverse ( CPosePDF & o ) const

overridevirtualinherited

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

Implements mrpt::poses::CPosePDF.

Definition at line 315 of file CPosePDFParticles.cpp.

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

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◆ is_3D()

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

inlinestaticinherited

Definition at line 98 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

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

inlinestaticinherited

Definition at line 103 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ isLoggingLevelVisible()

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

inlineinherited

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

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

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

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◆ jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du,
		const bool	compute_df_dx = `true`,
		const bool	compute_df_du = `true`
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

Definition at line 32 of file CPosePDF.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().

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◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du
	)

staticinherited

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 22 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

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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.

◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, 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 CPosePDFParticles::operator+= ( const mrpt::math::TPose2D & Ap )

inherited

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

Definition at line 304 of file CPosePDFParticles.cpp.

◆ particlesCount()

size_t mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, 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.

Referenced by resetUniformFreeSpace().

◆ 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< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, 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.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

double CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const size_t	particleIndexForMap,
		const mrpt::obs::CSensoryFrame &	observation,
		const mrpt::poses::CPose3D &	x
	)		const

overridevirtual

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

Implements mrpt::slam::PF_implementation< mrpt::math::TPose2D, CMonteCarloLocalization2D, mrpt::poses::CPosePDFParticles::PARTICLE_STORAGE >.

Definition at line 166 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, for(), mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, and options.

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◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

void CMonteCarloLocalization2D::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	mrpt::math::TPose2D *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

overridevirtual

Implements mrpt::slam::PF_implementation< mrpt::math::TPose2D, CMonteCarloLocalization2D, mrpt::poses::CPosePDFParticles::PARTICLE_STORAGE >.

Definition at line 191 of file CMonteCarloLocalization2D.cpp.

◆ PF_SLAM_implementation_doWeHaveValidObservations()

virtual bool mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_doWeHaveValidObservations	(	[[maybe_unused] ] const typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::CParticleList &	particles,
		[[maybe_unused] ] const mrpt::obs::CSensoryFrame *	sf
	)		const

inlinevirtualinherited

Definition at line 260 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_gatherActionsCheckBothActObs()

bool mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_gatherActionsCheckBothActObs	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf
	)

inherited

Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.

On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.

Definition at line 46 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

void mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFOptimal	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options
	)

protectedinherited

A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping.

BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:

J.L. Blanco, J. Gonzalez, and J.-A. Fernandez-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461-466.
BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:

J.-L. Blanco, J. Gonzalez, and J.-A. Fernandez-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461466.

Definition at line 155 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

void mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFStandard	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options
	)

protectedinherited

A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping.

BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

This method is described in the paper: Pitt, M.K.; Shephard, N. (1999). "Filtering Via Simulation: Auxiliary Particle Filters". Journal of the American Statistical Association 94 (446): 590-591. doi:10.2307/2670179.

Definition at line 404 of file PF_implementations.h.

Referenced by prediction_and_update_pfAuxiliaryPFStandard().

◆ PF_SLAM_implementation_pfStandardProposal()

void mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_pfStandardProposal	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const TKLDParams &	KLD_options
	)

protectedinherited

A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping.

BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

Definition at line 179 of file PF_implementations.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet() [1/2]

void CMonteCarloLocalization2D::PF_SLAM_implementation_replaceByNewParticleSet	(	CParticleList &	old_particles,
		const std::vector< mrpt::math::TPose3D > &	newParticles,
		const std::vector< double > &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

override

Definition at line 197 of file CMonteCarloLocalization2D.cpp.

References ASSERT_EQUAL_.

◆ PF_SLAM_implementation_replaceByNewParticleSet() [2/2]

virtual void mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_replaceByNewParticleSet	(	typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::CParticleList &	old_particles,
		const std::vector< mrpt::math::TPose3D > &	newParticles,
		const std::vector< double > &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

inlinevirtualinherited

This is the default algorithm to efficiently replace one old set of samples by another new set.

The method uses pointers to make fast copies the first time each particle is duplicated, then makes real copies for the next ones.

Note that more efficient specializations might exist for specific particle data structs.

Definition at line 177 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_skipRobotMovement()

virtual bool mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_implementation_skipRobotMovement ( ) const

inlinevirtualinherited

Make a specialization if needed, eg.

in the first step in SLAM.

Definition at line 269 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal() [1/2]

static double mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_particlesEvaluator_AuxPFOptimal	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const mrpt::bayes::CParticleFilterCapable *	obj,
		size_t	index,
		const void *	action,
		const void *	observation
	)

staticprotectedinherited

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal() [2/2]

double mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_particlesEvaluator_AuxPFOptimal	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const mrpt::bayes::CParticleFilterCapable *	obj,
		size_t	index,
		[[maybe_unused] ] const void *	action,
		const void *	observation
	)

inherited

Definition at line 424 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

double mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::PF_SLAM_particlesEvaluator_AuxPFStandard	(	const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const mrpt::bayes::CParticleFilterCapable *	obj,
		size_t	index,
		const void *	action,
		const void *	observation
	)

staticprotectedinherited

Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.

Parameters

action	MUST be a "const CPose3D*"
observation	MUST be a "const CSensoryFrame*"
action	MUST be a "const mrpt::poses::CPose3D*"
observation	MUST be a "const CSensoryFrame*"

Definition at line 503 of file PF_implementations.h.

◆ 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 CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFOptimal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overridevirtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters

Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also: options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 142 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

◆ prediction_and_update_pfAuxiliaryPFStandard()

void CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFStandard	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overridevirtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters

Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also: options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 116 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, options, and mrpt::slam::PF_implementation< mrpt::math::TPose2D, CMonteCarloLocalization2D, mrpt::poses::CPosePDFParticles::PARTICLE_STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFStandard().

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◆ 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 CMonteCarloLocalization2D::prediction_and_update_pfStandardProposal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

overridevirtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters

action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also: options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 91 of file CMonteCarloLocalization2D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

◆ 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::TPose2D , 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.

◆ resetAroundSetOfPoses()

void CPosePDFParticles::resetAroundSetOfPoses	(	const std::vector< mrpt::math::TPose2D > &	list_poses,
		const size_t	num_particles_per_pose,
		const double	spread_x,
		const double	spread_y,
		const double	spread_phi_rad
	)

inherited

Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose.

Parameters

[in]	list_poses	The poses (x,y,phi) around which particles will be spread. Must contains at least one pose.
[in]	num_particles_per_pose	Number of particles to be spread around each of the "spots" in list_poses. Must be >=1.

Particles will be spread uniformly in a box of width spread_{x,y,phi_rad} in each of the three coordinates (meters, radians), so it can be understood as the "initial uncertainty".

See also: resetDeterministic, CMonteCarloLocalization2D::resetUniformFreeSpace

Definition at line 227 of file CPosePDFParticles.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::containers::clear(), mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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◆ resetDeterministic()

void CPosePDFParticles::resetDeterministic	(	const mrpt::math::TPose2D &	location,
		size_t	particlesCount = `0`
	)

inherited

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, CMonteCarloLocalization2D::resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 197 of file CPosePDFParticles.cpp.

Referenced by mrpt::poses::CPosePDFGrid::getCovarianceAndMean().

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◆ resetUniform()

void CPosePDFParticles::resetUniform	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	phi_min = `-M_PI`,
		const double	phi_max = `M_PI`,
		const int	particlesCount = `-1`
	)

inherited

Reset the PDF to an uniformly distributed one, inside of the defined 2D area [x_min,x_max]x[y_min,y_max] (in meters) and for orientations [phi_min, phi_max] (in radians).

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, CMonteCarloLocalization2D::resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 209 of file CPosePDFParticles.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, and MRPT_START.

Referenced by pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetUniform(), and run_test_pf_localization().

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◆ resetUniformFreeSpace()

void CMonteCarloLocalization2D::resetUniformFreeSpace	(	mrpt::maps::COccupancyGridMap2D *	theMap,
		const double	freeCellsThreshold = `0.7`,
		const int	particlesCount = `-1`,
		const double	x_min = `-1e10f`,
		const double	x_max = `1e10f`,
		const double	y_min = `-1e10f`,
		const double	y_max = `1e10f`,
		const double	phi_min = `-M_PI`,
		const double	phi_max = `M_PI`
	)

Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map.

Orientation is randomly generated in the whole 2*PI range.

Parameters

theMap	The occupancy grid map
freeCellsThreshold	The minimum free-probability to consider a cell as empty (default is 0.7)
particlesCount	If set to -1 the number of m_particles remains unchanged.
x_min	The limits of the area to look for free cells.
x_max	The limits of the area to look for free cells.
y_min	The limits of the area to look for free cells.
y_max	The limits of the area to look for free cells.
phi_min	The limits of the area to look for free cells.
phi_max	The limits of the area to look for free cells.

See also: resetDeterm32inistic

Exceptions

std::exception On any error (no free cell found in map, map=nullptr, etc...)

Definition at line 223 of file CMonteCarloLocalization2D.cpp.

Referenced by pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetOnFreeSpace(), and run_test_pf_localization().

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◆ saveParzenPDFToTextFile()

void CPosePDFParticles::saveParzenPDFToTextFile	(	const char *	fileName,
		const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	phi,
		const double	stepSizeXY,
		const double	stdXY,
		const double	stdPhi
	)		const

inherited

Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window.

See also: evaluatePDF_parzen

Definition at line 367 of file CPosePDFParticles.cpp.

References mrpt::format().

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◆ saveToTextFile()

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

overridevirtualinherited

Save PDF's m_particles to a text file.

In each line it will go: "x y phi weight"

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 259 of file CPosePDFParticles.cpp.

References mrpt::format().

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◆ serializeFrom() [1/2]

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

overrideprotectedvirtualinherited

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 167 of file CPosePDFParticles.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 CPosePDFParticles::serializeGetVersion ( ) const

overrideprotectedvirtualinherited

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 162 of file CPosePDFParticles.cpp.

◆ serializeTo() [1/2]

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

overrideprotectedvirtualinherited

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 163 of file CPosePDFParticles.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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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, 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::CPosePDFParticles::size ( ) const

inlineinherited

Get the m_particles count (equivalent to "particlesCount")

Definition at line 121 of file CPosePDFParticles.h.

References mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles.

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , 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::CPosePDFParticles::className = "mrpt::poses" "::" "CPosePDFParticles"

staticinherited

Definition at line 40 of file CPosePDFParticles.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_accumRobotMovement2D

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_accumRobotMovement2D

protectedinherited

Definition at line 46 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

bool mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_accumRobotMovement2DIsValid

protectedinherited

Definition at line 47 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_accumRobotMovement3D

protectedinherited

Definition at line 48 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

bool mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_accumRobotMovement3DIsValid

protectedinherited

Definition at line 49 of file PF_implementations_data.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_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

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

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

◆ m_movementDrawer

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_movementDrawer

protectedinherited

Used in al PF implementations.

See also: PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 53 of file PF_implementations_data.h.

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::m_particles

inherited

The array of particles.

Definition at line 196 of file CParticleFilterData.h.

Referenced by getLastPose(), prediction_and_update_pfAuxiliaryPFOptimal(), prediction_and_update_pfAuxiliaryPFStandard(), prediction_and_update_pfStandardProposal(), resetUniformFreeSpace(), and mrpt::poses::CPosePDFParticles::size().

◆ m_pfAuxiliaryPFOptimal_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 55 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 62 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 59 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

std::vector<bool> mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

protectedinherited

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::math::TPose2D , CMonteCarloLocalization2D , STORAGE >::m_pfAuxiliaryPFStandard_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 57 of file PF_implementations_data.h.

◆ options

TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization2D::options

MCL parameters.

Definition at line 45 of file CMonteCarloLocalization2D.h.

Referenced by PF_SLAM_computeObservationLikelihoodForParticle(), prediction_and_update_pfAuxiliaryPFOptimal(), prediction_and_update_pfAuxiliaryPFStandard(), prediction_and_update_pfStandardProposal(), and run_test_pf_localization().

◆ PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::PARTICLE_STORAGE

staticinherited

Definition at line 193 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPosePDFParticles::runtimeClassId

staticprotectedinherited

Definition at line 40 of file CPosePDFParticles.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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

Data members and methods used by generic PF implementations

Logging methods

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

◆ CMonteCarloLocalization2D()

◆ ~CMonteCarloLocalization2D()

Member Function Documentation

◆ _GetBaseClass()

◆ append()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clear()

◆ clearParticles()

◆ clone()

◆ computeResampling()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ defaultEvaluator()

◆ derived() [1/2]

◆ derived() [2/2]

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ ESS()

◆ evaluatePDF_parzen()

◆ 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()

◆ getLastPose()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getMinLoggingLevel()

◆ getMostLikelyParticle()

◆ getParticlePose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()