Detailed Description

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.

See also: CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF,

Definition at line 30 of file CMonteCarloLocalization3D.h.

#include <mrpt/slam/CMonteCarloLocalization3D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization3D:

Public Types
using	CParticleDataContent = mrpt::poses::CPose3DPDFParticles::CParticleDataContent

using	CParticleList = mrpt::poses::CPose3DPDFParticles::CParticleList

Public Member Functions
	CMonteCarloLocalization3D (size_t M=1)
	Constructor. More...

virtual	~CMonteCarloLocalization3D ()
	Destructor. More...

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

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)

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

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

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

Virtual methods that the PF_implementations assume exist.
virtual void	PF_SLAM_implementation_custom_update_particle_with_new_pose (mrpt::poses::CPose3D *particleData, const mrpt::math::TPose3D &newPose) const=0

virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::poses::CPose3DPDFParticles ::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 (const typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::typename mrpt::poses::CPose3DPDFParticles ::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const

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

Public Attributes
mrpt::poses::CPose3DPDFParticles	m_poseParticles

TMonteCarloLocalizationParams	options
	MCL parameters. More...

Data members and methods used by generic PF implementations
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

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...

Member Typedef Documentation

◆ CParticleDataContent

using mrpt::slam::CMonteCarloLocalization3D::CParticleDataContent = mrpt::poses::CPose3DPDFParticles::CParticleDataContent

Definition at line 36 of file CMonteCarloLocalization3D.h.

◆ CParticleList

using mrpt::slam::CMonteCarloLocalization3D::CParticleList = mrpt::poses::CPose3DPDFParticles::CParticleList

Definition at line 37 of file CMonteCarloLocalization3D.h.

Constructor & Destructor Documentation

◆ CMonteCarloLocalization3D()

mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D ( size_t M = 1 )

Constructor.

Parameters

M	The number of m_particles.

Definition at line 77 of file CMonteCarloLocalization3D.cpp.

Referenced by executeOn(), and prediction_and_update().

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◆ ~CMonteCarloLocalization3D()

mrpt::slam::CMonteCarloLocalization3D::~CMonteCarloLocalization3D ( )

virtual

Destructor.

Definition at line 86 of file CMonteCarloLocalization3D.cpp.

Member Function Documentation

◆ executeOn()

void mrpt::slam::CMonteCarloLocalization3D::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
	)

Definition at line 188 of file CMonteCarloLocalization3D.cpp.

References CMonteCarloLocalization3D(), mrpt::bayes::CParticleFilter::executeOn(), and THROW_EXCEPTION.

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◆ getLastPose()

TPose3D mrpt::slam::CMonteCarloLocalization3D::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::poses::CPose3D, mrpt::poses::CPose3DPDFParticles >.

Definition at line 87 of file CMonteCarloLocalization3D.cpp.

References ASSERTDEB_, mrpt::bayes::CParticleFilterData< T >::m_particles, m_poseParticles, and THROW_EXCEPTION.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

double mrpt::slam::CMonteCarloLocalization3D::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

virtual

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

Implements mrpt::slam::PF_implementation< mrpt::poses::CPose3D, mrpt::poses::CPose3DPDFParticles >.

Definition at line 130 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CSensoryFrame::end(), mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_UNUSED_PARAM, and options.

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◆ PF_SLAM_implementation_custom_update_particle_with_new_pose() [1/2]

void mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CParticleDataContent *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

Definition at line 156 of file CMonteCarloLocalization3D.cpp.

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose() [2/2]

virtual void mrpt::slam::PF_implementation< mrpt::poses::CPose3D , mrpt::poses::CPose3DPDFParticles , typename mrpt::poses::CPose3DPDFParticles ::CParticleList >::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	mrpt::poses::CPose3D *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

pure virtualinherited

◆ PF_SLAM_implementation_doWeHaveValidObservations()

virtual bool mrpt::slam::PF_implementation< mrpt::poses::CPose3D , mrpt::poses::CPose3DPDFParticles , typename mrpt::poses::CPose3DPDFParticles ::CParticleList >::PF_SLAM_implementation_doWeHaveValidObservations	(	const typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::typename mrpt::poses::CPose3DPDFParticles ::CParticleList &	particles,
		const mrpt::obs::CSensoryFrame *	sf
	)		const

inlinevirtualinherited

Definition at line 179 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet() [1/2]

void mrpt::slam::CMonteCarloLocalization3D::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

Definition at line 162 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, and MRPT_UNUSED_PARAM.

◆ PF_SLAM_implementation_replaceByNewParticleSet() [2/2]

virtual void mrpt::slam::PF_implementation< mrpt::poses::CPose3D , mrpt::poses::CPose3DPDFParticles , typename mrpt::poses::CPose3DPDFParticles ::CParticleList >::PF_SLAM_implementation_replaceByNewParticleSet	(	typename mrpt::poses::CPose3DPDFParticles ::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 105 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_skipRobotMovement()

virtual bool mrpt::slam::PF_implementation< mrpt::poses::CPose3D , mrpt::poses::CPose3DPDFParticles , typename mrpt::poses::CPose3DPDFParticles ::CParticleList >::PF_SLAM_implementation_skipRobotMovement ( ) const

inlinevirtualinherited

Make a specialization if needed, eg.

in the first step in SLAM.

Definition at line 190 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

static double mrpt::slam::PF_implementation< mrpt::poses::CPose3D , mrpt::poses::CPose3DPDFParticles , typename mrpt::poses::CPose3DPDFParticles ::CParticleList >::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
	)

staticinherited

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*"

◆ prediction_and_update()

template<typename T >

void mrpt::slam::CMonteCarloLocalization3D::prediction_and_update	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

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.