Detailed Description

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >

A set of common data shared by PF implementations for both SLAM and localization.

Definition at line 40 of file PF_implementations_data.h.

#include <mrpt/slam/PF_implementations_data.h>

Inheritance diagram for mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >:

Public Member Functions
	PF_implementation ()

Virtual methods that the PF_implementations assume exist.
virtual mrpt::math::TPose3D	getLastPose (const size_t i, bool &is_valid_pose) const =0
	Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose. More...

virtual void	PF_SLAM_implementation_custom_update_particle_with_new_pose (PARTICLE_TYPE *particleData, const mrpt::math::TPose3D &newPose) const =0

virtual 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
	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< PARTICLE_TYPE >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const

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

virtual 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 =0
	Evaluate the observation likelihood for one particle at a given location. More...

Data members and methods used by generic PF implementations
mrpt::obs::CActionRobotMovement2D	m_accumRobotMovement2D

bool	m_accumRobotMovement2DIsValid = false

mrpt::poses::CPose3DPDFGaussian	m_accumRobotMovement3D

bool	m_accumRobotMovement3DIsValid = false

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

template<class BINTYPE >
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...

Constructor & Destructor Documentation

◆ PF_implementation()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::PF_implementation ( )

inline

Definition at line 43 of file PF_implementations_data.h.

Member Function Documentation

◆ getLastPose()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

virtual mrpt::math::TPose3D mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::getLastPose	(	const size_t	i,
		bool &	is_valid_pose
	)		const

pure virtual

Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose.

Exceptions

std::exception on out-of-range particle index

Implemented in mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

virtual double mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::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

pure virtual

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

Implemented in mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

virtual void mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	PARTICLE_TYPE *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

pure virtual

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles >::PF_SLAM_implementation_replaceByNewParticleSet().

Here is the caller graph for this function:

◆ PF_SLAM_implementation_doWeHaveValidObservations()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

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

inlinevirtual

Definition at line 179 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

virtual void mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::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

inlinevirtual

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()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

virtual bool mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::PF_SLAM_implementation_skipRobotMovement ( ) const

inlinevirtual

Make a specialization if needed, eg.

in the first step in SLAM.

Reimplemented in mrpt::maps::CMultiMetricMapPDF.

Definition at line 190 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

template<class BINTYPE >

static double mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, 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
	)

static

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*"

Member Data Documentation

◆ m_accumRobotMovement2D

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_accumRobotMovement2D

Definition at line 48 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_accumRobotMovement2DIsValid = false

Definition at line 49 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_accumRobotMovement3D

Definition at line 50 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_accumRobotMovement3DIsValid = false

Definition at line 51 of file PF_implementations_data.h.

◆ m_movementDrawer

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_movementDrawer

Used in al PF implementations.

See also: PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 55 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_pfAuxiliaryPFOptimal_estimatedProb

mutable

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 57 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutable

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 64 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutable

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 61 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

std::vector<bool> mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

Definition at line 65 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >::m_pfAuxiliaryPFStandard_estimatedProb

mutable

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 59 of file PF_implementations_data.h.

Detailed Description

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList> class mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >

Public Member Functions

Data members and methods used by generic PF implementations

Constructor & Destructor Documentation

◆ PF_implementation()

Member Function Documentation

◆ getLastPose()

◆ PF_SLAM_computeObservationLikelihoodForParticle()

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

◆ PF_SLAM_implementation_doWeHaveValidObservations()

◆ PF_SLAM_implementation_replaceByNewParticleSet()

◆ PF_SLAM_implementation_skipRobotMovement()

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

Member Data Documentation

◆ m_accumRobotMovement2D

◆ m_accumRobotMovement2DIsValid

◆ m_accumRobotMovement3D

◆ m_accumRobotMovement3DIsValid

◆ m_movementDrawer

◆ m_pfAuxiliaryPFOptimal_estimatedProb

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class PDF_TYPE, class CParticleList = typename PDF_TYPE::CParticleList>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList >