Detailed Description

Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.

This class is used internally in mrpt::slam::CHMTSLAM

Definition at line 548 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAM_RBPF_2DLASER:

Classes
struct	TPathBin
	Auxiliary structure. More...

Public Member Functions
	CLSLAM_RBPF_2DLASER (CHMTSLAM *parent)
	Constructor. More...

virtual	~CLSLAM_RBPF_2DLASER ()
	Destructor. More...

void	processOneLMH (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection::Ptr &act, const mrpt::obs::CSensoryFrame::Ptr &sf)
	Main entry point from HMT-SLAM: process some actions & observations. More...

template<class PF_ALGORITHM >
void	prediction_and_update (CLocalMetricHypothesis LMH, const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)

Protected Member Functions
void	loadTPathBinFromPath (TPathBin &outBin, TMapPoseID2Pose3D path=nullptr, mrpt::poses::CPose2D newPose=nullptr)
	Fills out a "TPathBin" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options". More...

int	findTPathBinIntoSet (TPathBin &desiredBin, std::deque< TPathBin > &theSet)
	Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found. More...

Protected Attributes
bool	m_insertNewRobotPose
	For use within PF callback methods. More...

mrpt::utils::safe_ptr< CHMTSLAM >	m_parent

Friends
class	CLocalMetricHypothesis

Constructor & Destructor Documentation

◆ CLSLAM_RBPF_2DLASER()

mrpt::hmtslam::CLSLAM_RBPF_2DLASER::CLSLAM_RBPF_2DLASER ( CHMTSLAM * parent )

Constructor.

Definition at line 88 of file CHMTSLAM_LSLAM_RBPF_2DLASER.cpp.

◆ ~CLSLAM_RBPF_2DLASER()

mrpt::hmtslam::CLSLAM_RBPF_2DLASER::~CLSLAM_RBPF_2DLASER ( )

virtual

Destructor.

Definition at line 93 of file CHMTSLAM_LSLAM_RBPF_2DLASER.cpp.

Member Function Documentation

◆ findTPathBinIntoSet()

int mrpt::hmtslam::CLSLAM_RBPF_2DLASER::findTPathBinIntoSet	(	CLSLAM_RBPF_2DLASER::TPathBin &	desiredBin,
		std::deque< TPathBin > &	theSet
	)

protected

Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found.

Definition at line 808 of file CHMTSLAM_LSLAM_RBPF_2DLASER.cpp.

References mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin::phi, mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin::x, and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin::y.

◆ loadTPathBinFromPath()

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath	(	CLSLAM_RBPF_2DLASER::TPathBin &	outBin,
		TMapPoseID2Pose3D *	path = `nullptr`,
		mrpt::poses::CPose2D *	newPose = `nullptr`
	)

protected

Fills out a "TPathBin" variable, given a path hypotesis and (if not set to nullptr) a new pose appended at the end, using the KLD params in "options".

Definition at line 753 of file CHMTSLAM_LSLAM_RBPF_2DLASER.cpp.

References mrpt::hmtslam::CLSLAMAlgorithmBase::m_parent, mrpt::poses::CPose2D::phi(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin::phi, mrpt::utils::round(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin::y.

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◆ prediction_and_update()

template<class PF_ALGORITHM >

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update	(	CLocalMetricHypothesis *	LMH,
		const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

◆ processOneLMH()

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH	(	CLocalMetricHypothesis *	LMH,
		const mrpt::obs::CActionCollection::Ptr &	act,
		const mrpt::obs::CSensoryFrame::Ptr &	sf
	)

virtual

Main entry point from HMT-SLAM: process some actions & observations.

The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.

Parameters

LMH	The local metric hypothesis which must be updated by this SLAM algorithm.
act	The action to process (or nullptr).
sf	The observations to process (or nullptr).

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.

Definition at line 109 of file CHMTSLAM_LSLAM_RBPF_2DLASER.cpp.