CMonteCarloLocalization3D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CMonteCarloLocalization3D_H
#define CMonteCarloLocalization3D_H

#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/slam/PF_implementations_data.h>
#include <mrpt/slam/TMonteCarloLocalizationParams.h>
#include <mrpt/obs/obs_frwds.h>

namespace mrpt
{
namespace slam
{
/** Declares a class that represents a Probability Density Function (PDF) over a
 * 3D pose (x,y,phi,yaw,pitch,roll), 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.
 *
 * \sa CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF,
 * \ingroup mrpt_slam_grp
 */
class CMonteCarloLocalization3D
        : public PF_implementation<
                  mrpt::poses::CPose3D, mrpt::poses::CPose3DPDFParticles>
{
   public:
        using CParticleDataContent =
                mrpt::poses::CPose3DPDFParticles::CParticleDataContent;
        using CParticleList = mrpt::poses::CPose3DPDFParticles::CParticleList;

        mrpt::poses::CPose3DPDFParticles m_poseParticles;

        /** MCL parameters */
        TMonteCarloLocalizationParams options;

        /** Constructor
         * \param M The number of m_particles.
         */
        CMonteCarloLocalization3D(size_t M = 1);

        /** Destructor */
        virtual ~CMonteCarloLocalization3D();

        /** 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:
         *
         *   \param action This is a pointer to CActionCollection, containing the
         * pose change the robot has been commanded.
         *   \param observation This must be a pointer to a CSensoryFrame object,
         * with robot sensed observations.
         *
         * \sa options
         */
        template <typename T>
        void prediction_and_update(
                const mrpt::obs::CActionCollection* action,
                const mrpt::obs::CSensoryFrame* observation,
                const bayes::CParticleFilter::TParticleFilterOptions& PF_options);

        /** \name Virtual methods that the PF_implementations assume exist.
                @{ */
        /** Return the robot pose for the i'th particle. is_valid is
         * always true in this class. */
        mrpt::math::TPose3D getLastPose(
                const size_t i, bool& is_valid_pose) const override;

        void PF_SLAM_implementation_custom_update_particle_with_new_pose(
                CParticleDataContent* particleData,
                const mrpt::math::TPose3D& newPose) const;

        // We'll redefine this one:
        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;

        /** Evaluate the observation likelihood for one particle at a given location
         */
        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;
        /** @} */

        void executeOn(
                mrpt::bayes::CParticleFilter& pf,
                const mrpt::obs::CActionCollection* action,
                const mrpt::obs::CSensoryFrame* observation,
                mrpt::bayes::CParticleFilter::TParticleFilterStats* stats,
                mrpt::bayes::CParticleFilter::TParticleFilterAlgorithm PF_algorithm);

};  // End of class def.

}  // namespace slam
}  // namespace mrpt

#endif