Detailed Description

Class to monitor the evolution of a statistical quantity.

Description

Keeps track of the last N incoming measurements of the quantity at hand and upon request returns statistical properties of these measurements (mean, median, etc.)

Class also contains methods for evaluating incoming measurements (whether to accept or reject those)

.ini Configuration Parameters

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

sliding_win_size
- Default value : 10
- Required : FALSE
- Description : How many of the latest measurements to take into account when computing the relevant statistics

Definition at line 49 of file TSlidingWindow.h.

#include <mrpt/graphslam/misc/TSlidingWindow.h>

Inheritance diagram for mrpt::graphslam::TSlidingWindow:

Public Member Functions
	TSlidingWindow (std::string name="window")

	~TSlidingWindow ()

double	getMedian ()
	Return the current median value. More...

double	getMean ()
	Return the current mean value. More...

double	getStdDev ()
	Return the Standard deviation of the current measurement vector. More...

bool	evaluateMeasurementInGaussian (double measurement)
	Determine whether the incoming measurement is inside the [-3sigma, +3sigma] boundaries from the current mean value. More...

bool	evaluateMeasurementAbove (double value)
	Determine whether the incoming measurement is over the current mean value. More...

bool	evaluateMeasurementBelow (double value)
	Determine whether the incoming measurement is less or equal to the current mean value. More...

void	addNewMeasurement (double measurement)
	Update the sliding window by appending a new measurement. More...

void	resizeWindow (size_t new_size)
	Resize the window. More...

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (mrpt::utils::CStream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

size_t	getWindowSize () const
	Return the size of the window. More...

bool	windowIsFull () const
	Check if the window has reached its limit. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Private Attributes
size_t	m_win_size

std::vector< double >	m_measurements_vec

std::string	m_name
	Name of the TSlidingWindow Instance at hand. More...

double	m_mean_cached
	Cached mean value. More...

double	m_median_cached
	Cached median value. More...

double	m_std_dev_cached
	Cached version of the standard deviation. More...

bool	m_mean_updated
	Is the mean up-to-date? More...

bool	m_median_updated
	Is the median up-to-date? More...

bool	m_std_dev_updated
	Is the standard deviation up-to-date? More...

bool	m_is_initialized
	flag is raised the first time that TSlidingWindow::addNewMeasurement is called More...

Constructor & Destructor Documentation

◆ TSlidingWindow()

TSlidingWindow::TSlidingWindow ( std::string name = "window" )

Definition at line 19 of file TSlidingWindow.cpp.

References m_is_initialized, m_mean_cached, m_mean_updated, m_median_cached, m_median_updated, m_name, m_std_dev_updated, m_win_size, MRPT_END, and MRPT_START.

◆ ~TSlidingWindow()

TSlidingWindow::~TSlidingWindow ( )

Definition at line 36 of file TSlidingWindow.cpp.

Member Function Documentation

◆ addNewMeasurement()

void TSlidingWindow::addNewMeasurement ( double measurement )

Update the sliding window by appending a new measurement.

Definition at line 146 of file TSlidingWindow.cpp.

References m_is_initialized, m_mean_updated, m_measurements_vec, m_median_updated, m_std_dev_updated, m_win_size, MRPT_END, and MRPT_START.

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

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◆ dumpToTextStream()

void TSlidingWindow::dumpToTextStream ( mrpt::utils::CStream & out ) const

virtual

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 202 of file TSlidingWindow.cpp.

References m_is_initialized, m_mean_cached, m_mean_updated, m_measurements_vec, m_median_cached, m_median_updated, m_name, m_std_dev_cached, m_std_dev_updated, m_win_size, MRPT_END, MRPT_START, and mrpt::utils::CStream::printf().

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 65 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 59 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 54 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 49 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 71 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ evaluateMeasurementAbove()

bool TSlidingWindow::evaluateMeasurementAbove ( double value )

Determine whether the incoming measurement is over the current mean value.

Returns: True if it's above the mean

Definition at line 132 of file TSlidingWindow.cpp.

References getMean(), MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementBelow().

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◆ evaluateMeasurementBelow()

bool TSlidingWindow::evaluateMeasurementBelow ( double value )

Determine whether the incoming measurement is less or equal to the current mean value.

Returns: True if it's <= to the mean

Definition at line 141 of file TSlidingWindow.cpp.

References evaluateMeasurementAbove().

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◆ evaluateMeasurementInGaussian()

bool TSlidingWindow::evaluateMeasurementInGaussian ( double measurement )

Determine whether the incoming measurement is inside the [-3sigma, +3sigma] boundaries from the current mean value.

Returns: True if it's inside the uncertainty boundaries

Definition at line 122 of file TSlidingWindow.cpp.

References getMean(), and getStdDev().

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◆ getMean()

double TSlidingWindow::getMean ( )

Return the current mean value.

Definition at line 67 of file TSlidingWindow.cpp.

References m_mean_cached, m_mean_updated, m_measurements_vec, MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementAbove(), evaluateMeasurementInGaussian(), and getStdDev().

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◆ getMedian()

double TSlidingWindow::getMedian ( )

Return the current median value.

Definition at line 37 of file TSlidingWindow.cpp.

References m_measurements_vec, m_median_cached, m_median_updated, MRPT_END, and MRPT_START.

◆ getStdDev()

double TSlidingWindow::getStdDev ( )

Return the Standard deviation of the current measurement vector.

Definition at line 91 of file TSlidingWindow.cpp.

References getMean(), m_measurements_vec, m_std_dev_cached, m_std_dev_updated, m_win_size, mean(), MRPT_END, and MRPT_START.

Referenced by evaluateMeasurementInGaussian().

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◆ getWindowSize()

size_t TSlidingWindow::getWindowSize ( ) const

Return the size of the window.

Definition at line 233 of file TSlidingWindow.cpp.

References m_win_size.

◆ loadFromConfigFile()

void TSlidingWindow::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 191 of file TSlidingWindow.cpp.

References MRPT_END, MRPT_START, and resizeWindow().

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

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◆ resizeWindow()

void TSlidingWindow::resizeWindow ( size_t new_size )

Resize the window.

Note: Method affects the underlying vector only if the new_size specified has already been reached

Definition at line 170 of file TSlidingWindow.cpp.

References m_mean_updated, m_measurements_vec, m_median_updated, m_win_size, MRPT_END, and MRPT_START.

Referenced by loadFromConfigFile(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams().

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◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().

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◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

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◆ windowIsFull()

bool TSlidingWindow::windowIsFull ( ) const

Check if the window has reached its limit.

This limit is set by the user via the resizeWindow method.

See also: resizeWindow

Definition at line 234 of file TSlidingWindow.cpp.

References m_measurements_vec, and m_win_size.

Member Data Documentation

◆ m_is_initialized

bool mrpt::graphslam::TSlidingWindow::m_is_initialized

private

flag is raised the first time that TSlidingWindow::addNewMeasurement is called

Definition at line 119 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), and TSlidingWindow().

◆ m_mean_cached

double mrpt::graphslam::TSlidingWindow::m_mean_cached

private

Cached mean value.

Definition at line 108 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), getMean(), and TSlidingWindow().

◆ m_mean_updated

bool mrpt::graphslam::TSlidingWindow::m_mean_updated

private

Is the mean up-to-date?

Definition at line 111 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMean(), resizeWindow(), and TSlidingWindow().

◆ m_measurements_vec

std::vector<double> mrpt::graphslam::TSlidingWindow::m_measurements_vec

private

Definition at line 103 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMean(), getMedian(), getStdDev(), resizeWindow(), and windowIsFull().

◆ m_median_cached

double mrpt::graphslam::TSlidingWindow::m_median_cached

private

Cached median value.

Definition at line 109 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), getMedian(), and TSlidingWindow().

◆ m_median_updated

bool mrpt::graphslam::TSlidingWindow::m_median_updated

private

Is the median up-to-date?

Definition at line 112 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getMedian(), resizeWindow(), and TSlidingWindow().

◆ m_name

std::string mrpt::graphslam::TSlidingWindow::m_name

private

Name of the TSlidingWindow Instance at hand.

Definition at line 106 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and TSlidingWindow().

◆ m_std_dev_cached

double mrpt::graphslam::TSlidingWindow::m_std_dev_cached

private

Cached version of the standard deviation.

Definition at line 110 of file TSlidingWindow.h.

Referenced by dumpToTextStream(), and getStdDev().

◆ m_std_dev_updated

bool mrpt::graphslam::TSlidingWindow::m_std_dev_updated

private

Is the standard deviation up-to-date?

Definition at line 113 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getStdDev(), and TSlidingWindow().

◆ m_win_size

size_t mrpt::graphslam::TSlidingWindow::m_win_size

private

Definition at line 102 of file TSlidingWindow.h.

Referenced by addNewMeasurement(), dumpToTextStream(), getStdDev(), getWindowSize(), resizeWindow(), TSlidingWindow(), and windowIsFull().

Detailed Description

Description

.ini Configuration Parameters

Public Member Functions

Static Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ TSlidingWindow()

◆ ~TSlidingWindow()

Member Function Documentation

◆ addNewMeasurement()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ evaluateMeasurementAbove()

◆ evaluateMeasurementBelow()

◆ evaluateMeasurementInGaussian()

◆ getMean()

◆ getMedian()

◆ getStdDev()

◆ getWindowSize()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ resizeWindow()

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ windowIsFull()

Member Data Documentation

◆ m_is_initialized

◆ m_mean_cached

◆ m_mean_updated

◆ m_measurements_vec

◆ m_median_cached

◆ m_median_updated

◆ m_name

◆ m_std_dev_cached

◆ m_std_dev_updated

◆ m_win_size