Detailed Description

This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.

This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.

A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.

For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.

Note: Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.; Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.; Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.

See also: CMetricMap

Definition at line 57 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF:

Classes
struct	TConstructionOptions
	Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More...

struct	TStats
	This structure will hold stats after each execution of processActionObservation. More...

Public Member Functions
	CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions)
	Constructor. More...

	CMetricMapBuilderRBPF ()
	This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF. More...

CMetricMapBuilderRBPF &	operator= (const CMetricMapBuilderRBPF &src)
	Copy Operator. More...

virtual	~CMetricMapBuilderRBPF ()
	Destructor. More...

void	initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr)
	Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map. More...

void	clear ()
	Clear all elements of the maps. More...

mrpt::poses::CPose3DPDF::Ptr	getCurrentPoseEstimation () const
	Returns a copy of the current best pose estimation as a pose PDF. More...

void	getCurrentMostLikelyPath (std::deque< mrpt::math::TPose3D > &outPath) const
	Returns the current most-likely path estimation (the path associated to the most likely particle). More...

void	processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)
	Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...

void	getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const
	Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...

const mrpt::maps::CMultiMetricMap *	getCurrentlyBuiltMetricMap () const
	Returns the map built so far. More...

unsigned int	getCurrentlyBuiltMapSize ()
	Returns just how many sensory-frames are stored in the currently build map. More...

void	saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)
	A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...

void	drawCurrentEstimationToImage (utils::CCanvas *img)
	A useful method for debugging: draws the current map and path hypotheses to a CCanvas. More...

void	saveCurrentPathEstimationToTextFile (const std::string &fil)
	A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). More...

double	getCurrentJointEntropy ()

void	enableMapUpdating (bool enable)
	Enables or disables the map updating (default state is enabled) More...

void	loadCurrentMapFromFile (const std::string &fileName)
	Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...

void	saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
	Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...

Public Attributes
mrpt::maps::CMultiMetricMapPDF	mapPDF
	The map PDF: It includes a path and associated map for each particle. More...

TStats	m_statsLastIteration
	This structure will hold stats after each execution of processActionObservation. More...

TOptions	options

Protected Member Functions
void	enterCriticalSection ()
	Enter critical section for map updating. More...

void	leaveCriticalSection ()
	Leave critical section for map updating. More...

Protected Attributes
bayes::CParticleFilter::TParticleFilterOptions	m_PF_options
	The configuration of the particle filter. More...

float	insertionLinDistance
	Distances (linear and angular) for inserting a new observation into the map. More...

float	insertionAngDistance

float	localizeLinDistance
	Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). More...

float	localizeAngDistance

mrpt::poses::CPose3DPDFGaussian	odoIncrementSinceLastLocalization
	Traveled distance since last localization update. More...

mrpt::poses::CPose3D	odoIncrementSinceLastMapUpdate
	Traveled distance since last map update. More...

std::mutex	critZoneChangingMap
	Critical zones. More...

Constructor & Destructor Documentation

◆ CMetricMapBuilderRBPF() [1/2]

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( const TConstructionOptions & initializationOptions )

Constructor.

Definition at line 35 of file CMetricMapBuilderRBPF.cpp.

References clear(), and mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level.

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◆ CMetricMapBuilderRBPF() [2/2]

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( )

This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF.

Definition at line 55 of file CMetricMapBuilderRBPF.cpp.

References MRPT_LOG_WARN.

◆ ~CMetricMapBuilderRBPF()

CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF ( )

virtual

Destructor.

Definition at line 86 of file CMetricMapBuilderRBPF.cpp.

Member Function Documentation

◆ clear()

void CMetricMapBuilderRBPF::clear ( )

Clear all elements of the maps.

Definition at line 90 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mapPDF, MRPT_LOG_DEBUG, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, and mrpt::poses::CPose3D::setFromValues().

Referenced by CMetricMapBuilderRBPF(), and initialize().

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◆ drawCurrentEstimationToImage()

void CMetricMapBuilderRBPF::drawCurrentEstimationToImage ( utils::CCanvas * img )

A useful method for debugging: draws the current map and path hypotheses to a CCanvas.

Definition at line 386 of file CMetricMapBuilderRBPF.cpp.

References ASSERT_, mrpt::utils::CCanvas::drawImage(), mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), mrpt::utils::CImage::getHeight(), mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mrpt::maps::CMultiMetricMapPDF::m_poseParticles, mapPDF, MRPT_END, MRPT_START, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount(), mrpt::utils::CImage::resize(), and mrpt::utils::round().

Referenced by saveCurrentEstimationToImage().

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◆ enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool enable )

inlineinherited

Enables or disables the map updating (default state is enabled)

Definition at line 106 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, and mrpt::slam::CMetricMapBuilder::options.

◆ enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )

inlineprotectedinherited

Enter critical section for map updating.

Definition at line 41 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ getCurrentJointEntropy()

double CMetricMapBuilderRBPF::getCurrentJointEntropy ( )

Definition at line 512 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy(), and mapPDF.

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◆ getCurrentlyBuiltMap()

void CMetricMapBuilderRBPF::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap & out_map ) const

virtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 363 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CMultiMetricMapPDF::updateSensoryFrameSequence().

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◆ getCurrentlyBuiltMapSize()

unsigned int CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize ( )

virtual

Returns just how many sensory-frames are stored in the currently build map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 378 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CSimpleMap::size().

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◆ getCurrentlyBuiltMetricMap()

const CMultiMetricMap * CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap ( ) const

virtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "clone()".

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 370 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), and mapPDF.

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◆ getCurrentMostLikelyPath()

void CMetricMapBuilderRBPF::getCurrentMostLikelyPath ( std::deque< mrpt::math::TPose3D > & outPath ) const

Returns the current most-likely path estimation (the path associated to the most likely particle).

Definition at line 342 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mrpt::maps::CMultiMetricMapPDF::m_poseParticles, mapPDF, and mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount().

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◆ getCurrentPoseEstimation()

CPose3DPDF::Ptr CMetricMapBuilderRBPF::getCurrentPoseEstimation ( ) const

virtual

Returns a copy of the current best pose estimation as a pose PDF.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 324 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, and odoIncrementSinceLastLocalization.

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◆ initialize()

void CMetricMapBuilderRBPF::initialize	(	const mrpt::maps::CSimpleMap &	initialMap = `mrpt::maps::CSimpleMap()`,
		const mrpt::poses::CPosePDF *	x0 = `nullptr`
	)

virtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 294 of file CMetricMapBuilderRBPF.cpp.

References clear(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::maps::CSimpleMap::empty(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mapPDF, MRPT_LOG_INFO_STREAM, mrpt::maps::CSimpleMap::rbegin(), and mrpt::maps::CSimpleMap::size().

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◆ leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )

inlineprotectedinherited

Leave critical section for map updating.

Definition at line 43 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ loadCurrentMapFromFile()

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string & fileName )

inherited

Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.

Definition at line 54 of file CMetricMapBuilder.cpp.

References mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), mrpt::slam::CMetricMapBuilder::initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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◆ operator=()

CMetricMapBuilderRBPF & CMetricMapBuilderRBPF::operator= ( const CMetricMapBuilderRBPF & src )

Copy Operator.

Definition at line 64 of file CMetricMapBuilderRBPF.cpp.

References insertionAngDistance, insertionLinDistance, localizeAngDistance, localizeLinDistance, m_PF_options, m_statsLastIteration, mapPDF, odoIncrementSinceLastLocalization, and odoIncrementSinceLastMapUpdate.

◆ processActionObservation()

void CMetricMapBuilderRBPF::processActionObservation	(	mrpt::obs::CActionCollection &	action,
		mrpt::obs::CSensoryFrame &	observations
	)

virtual

Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters

action	The incremental 2D pose change in the robot pose. This value is deterministic.
observations	The set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 110 of file CMetricMapBuilderRBPF.cpp.

References mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, ASSERT_, mrpt::utils::CListOfClasses::begin(), mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::cov(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion, mrpt::utils::CListOfClasses::end(), mrpt::obs::CSensoryFrame::end(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::obs::CActionRobotMovement3D::estimationMethod, mrpt::maps::CMultiMetricMapPDF::executeOn(), mrpt::format(), mrpt::mrpt::format(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::obs::CActionCollection::insert(), insertionAngDistance, insertionLinDistance, mrpt::maps::CMultiMetricMapPDF::insertObservation(), localizeAngDistance, localizeLinDistance, mrpt::bayes::CParticleFilter::m_options, mrpt::bayes::CParticleFilterData< T >::m_particles, m_PF_options, mrpt::maps::CMultiMetricMapPDF::m_poseParticles, m_statsLastIteration, mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::slam::CMetricMapBuilderRBPF::TStats::observationsInserted, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, mrpt::slam::CMetricMapBuilder::options, mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::obs::CActionRobotMovement3D::poseChange, RAD2DEG, mrpt::poses::CPose3D::setFromValues(), mrpt::maps::CMultiMetricMapPDF::SFs, mrpt::maps::CSimpleMap::size(), mrpt::obs::CSensoryFrame::size(), mrpt::obs::CAction::timestamp, and mrpt::poses::CPose3D::yaw().

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◆ saveCurrentEstimationToImage()

void CMetricMapBuilderRBPF::saveCurrentEstimationToImage	(	const std::string &	file,
		bool	formatEMF_BMP = `true`
	)

virtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters

file	The output file name
formatEMF_BMP	Output format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 487 of file CMetricMapBuilderRBPF.cpp.

References CH_GRAY, drawCurrentEstimationToImage(), MRPT_END, and MRPT_START.

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◆ saveCurrentMapToFile()

void CMetricMapBuilder::saveCurrentMapToFile	(	const std::string &	fileName,
		bool	compressGZ = `true`
	)		const

inherited

Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.

Definition at line 86 of file CMetricMapBuilder.cpp.

References CFileGZOutputStream, mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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◆ saveCurrentPathEstimationToTextFile()

void CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile ( const std::string & fil )

A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).

Definition at line 520 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, and mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile().

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Member Data Documentation

◆ critZoneChangingMap

std::mutex mrpt::slam::CMetricMapBuilder::critZoneChangingMap

protectedinherited

Critical zones.

Definition at line 39 of file CMetricMapBuilder.h.

Referenced by clear(), mrpt::slam::CMetricMapBuilder::enterCriticalSection(), mrpt::slam::CMetricMapBuilderICP::initialize(), initialize(), mrpt::slam::CMetricMapBuilder::leaveCriticalSection(), processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ insertionAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance

protected

Definition at line 69 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

◆ insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance

protected

Distances (linear and angular) for inserting a new observation into the map.

Definition at line 69 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

◆ localizeAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance

protected

Definition at line 73 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

◆ localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance

protected

Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).

Definition at line 73 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

◆ m_PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::m_PF_options

protected

The configuration of the particle filter.

Definition at line 65 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

◆ m_statsLastIteration

TStats mrpt::slam::CMetricMapBuilderRBPF::m_statsLastIteration

This structure will hold stats after each execution of processActionObservation.

Definition at line 204 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

◆ mapPDF

mrpt::maps::CMultiMetricMapPDF mrpt::slam::CMetricMapBuilderRBPF::mapPDF

The map PDF: It includes a path and associated map for each particle.

Definition at line 61 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), drawCurrentEstimationToImage(), getCurrentJointEntropy(), getCurrentlyBuiltMap(), getCurrentlyBuiltMapSize(), getCurrentlyBuiltMetricMap(), getCurrentMostLikelyPath(), getCurrentPoseEstimation(), initialize(), operator=(), processActionObservation(), and saveCurrentPathEstimationToTextFile().

◆ odoIncrementSinceLastLocalization

mrpt::poses::CPose3DPDFGaussian mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastLocalization

protected

Traveled distance since last localization update.

Definition at line 76 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), getCurrentPoseEstimation(), operator=(), and processActionObservation().

◆ odoIncrementSinceLastMapUpdate

mrpt::poses::CPose3D mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastMapUpdate

protected

Traveled distance since last map update.

Definition at line 78 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), operator=(), and processActionObservation().

◆ options

TOptions mrpt::slam::CMetricMapBuilder::options

inherited

Definition at line 143 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilder::enableMapUpdating(), processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ CMetricMapBuilderRBPF() [1/2]

◆ CMetricMapBuilderRBPF() [2/2]

◆ ~CMetricMapBuilderRBPF()

Member Function Documentation

◆ clear()

◆ drawCurrentEstimationToImage()

◆ enableMapUpdating()

◆ enterCriticalSection()

◆ getCurrentJointEntropy()

◆ getCurrentlyBuiltMap()

◆ getCurrentlyBuiltMapSize()

◆ getCurrentlyBuiltMetricMap()

◆ getCurrentMostLikelyPath()

◆ getCurrentPoseEstimation()

◆ initialize()

◆ leaveCriticalSection()

◆ loadCurrentMapFromFile()

◆ operator=()

◆ processActionObservation()

◆ saveCurrentEstimationToImage()

◆ saveCurrentMapToFile()

◆ saveCurrentPathEstimationToTextFile()

Member Data Documentation

◆ critZoneChangingMap

◆ insertionAngDistance

◆ insertionLinDistance

◆ localizeAngDistance

◆ localizeLinDistance

◆ m_PF_options

◆ m_statsLastIteration

◆ mapPDF

◆ odoIncrementSinceLastLocalization

◆ odoIncrementSinceLastMapUpdate

◆ options