mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING > Class Template Reference

Detailed Description

template<bool USE_OPTIMAL_SAMPLING>
class mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >

Definition at line 421 of file PF_implementations.h.

#include <mrpt/slam/PF_implementations.h>

Static Public Member Functions
template<class PARTICLE_TYPE , class MYSELF , class BINTYPE , class EVALUATOR = std::conditional_t< USE_OPTIMAL_SAMPLING, AuxPFOptimalEvaluator, AuxPFStandardEvaluator>>
static void	PF_SLAM_implementation (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options, MYSELF &me)
template<class MYSELF , class BINTYPE >
static bool	PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, MYSELF &me)
	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...
template<class MYSELF , class BINTYPE >
static void	PF_SLAM_aux_perform_one_rejection_sampling_step (const bool doResample, const double maxMeanLik, size_t k, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, mrpt::poses::CPose3D &out_newPose, double &out_newParticleLogWeight, MYSELF &me)

Static Public Attributes
static constexpr bool	DoesResampling = false

Member Function Documentation

PF_SLAM_aux_perform_one_rejection_sampling_step()

template<bool USE_OPTIMAL_SAMPLING>

template<class MYSELF , class BINTYPE >

static void mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_aux_perform_one_rejection_sampling_step ( const bool  doResample, const double  maxMeanLik, size_t  k, const mrpt::obs::CSensoryFrame *  sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &  PF_options, mrpt::poses::CPose3D &  out_newPose, double &  out_newParticleLogWeight, MYSELF &  me  )

inlinestatic

Definition at line 943 of file PF_implementations.h.

References mrpt::poses::CPose3D::composeFrom(), mrpt::random::CRandomGenerator::drawUniform32bit(), mrpt::random::getRandomGenerator(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::max_loglikelihood_dyn_range, min, mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor.

Referenced by mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().

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PF_SLAM_implementation()

template<bool USE_OPTIMAL_SAMPLING>

template<class PARTICLE_TYPE , class MYSELF , class BINTYPE , class EVALUATOR = std::conditional_t< USE_OPTIMAL_SAMPLING, AuxPFOptimalEvaluator, AuxPFStandardEvaluator>>

static void mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation ( const mrpt::obs::CActionCollection *  actions, const mrpt::obs::CSensoryFrame *  sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &  PF_options, const TKLDParams &  KLD_options, MYSELF &  me  )

inlinestatic

Definition at line 431 of file PF_implementations.h.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA, mrpt::math::chi2inv(), mrpt::math::distance(), mrpt::random::CRandomGenerator::drawUniform32bit(), mrpt::utils::find(), mrpt::mrpt::format(), mrpt::random::getRandomGenerator(), INVALID_LIKELIHOOD_VALUE, mrpt::slam::TKLDParams::KLD_delta, mrpt::slam::TKLDParams::KLD_epsilon, mrpt::slam::TKLDParams::KLD_maxSampleSize, mrpt::slam::TKLDParams::KLD_minSampleSize, mrpt::slam::TKLDParams::KLD_minSamplesPerBin, mrpt::math::maximum(), mrpt::math::mean(), mrpt::math::minimum(), MRPT_END, MRPT_START, mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE, mrpt::random::random_generator_for_STL(), mrpt::utils::round(), and mrpt::math::TPose3D::size().

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Member Data Documentation

DoesResampling

template<bool USE_OPTIMAL_SAMPLING>

constexpr bool mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::DoesResampling = false

static

Definition at line 424 of file PF_implementations.h.