MRPT  1.9.9
mrpt::bayes::CParticleFilter Class Reference

Detailed Description

This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilterAlgorithm) any bayes::CParticleFilterCapable class can implement: it is the invoker of particle filter algorithms.

The particle filter is executed on a probability density function (PDF) described by a CParticleFilterCapable object, passed in the constructor or alternatively through the CParticleFilter::executeOn method.

For a complete example and further details, see the Particle Filter tutorial.

The basic SIR algorithm (pfStandardProposal) consists of:

  • Execute a prediction with the given "action".
  • Update the weights of the particles using the likelihood of the "observation".
  • Normalize weights.
  • Perform resampling if the ESS is below the threshold options.BETA.
See also
mrpt::poses::CPoseParticlesPDF

Definition at line 51 of file CParticleFilter.h.

#include <mrpt/bayes/CParticleFilter.h>

Inheritance diagram for mrpt::bayes::CParticleFilter:

Classes

struct  TParticleFilterOptions
 The configuration of a particle filter. More...
 
struct  TParticleFilterStats
 Statistics for being returned from the "execute" method. More...
 

Public Types

enum  TParticleFilterAlgorithm { pfStandardProposal = 0, pfAuxiliaryPFStandard, pfOptimalProposal, pfAuxiliaryPFOptimal }
 Defines different types of particle filter algorithms. More...
 
enum  TParticleResamplingAlgorithm { prMultinomial = 0, prResidual, prStratified, prSystematic }
 Defines the different resampling algorithms. More...
 

Public Member Functions

 CParticleFilter ()
 Default constructor. More...
 
 ~CParticleFilter () override=default
 
void executeOn (CParticleFilterCapable &obj, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, TParticleFilterStats *stats=nullptr)
 Executes a complete prediction + update step of the selected particle filtering algorithm. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Public Attributes

CParticleFilter::TParticleFilterOptions m_options
 The options to be used in the PF, must be set before executing any step of the particle filter. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Logging methods

bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Member Enumeration Documentation

◆ TParticleFilterAlgorithm

Defines different types of particle filter algorithms.

The defined SIR implementations are:

  • pfStandardProposal: Standard proposal distribution + weights according to likelihood function.
  • pfAuxiliaryPFStandard: An auxiliary PF using the standard proposal distribution.
  • pfOptimalProposal: Use the optimal proposal distribution (where available!, usually this will perform approximations)
  • pfAuxiliaryPFOptimal: Use the optimal proposal and a auxiliary particle filter (see paper).

See the theoretical discussion in resampling schemes.

Enumerator
pfStandardProposal 
pfAuxiliaryPFStandard 
pfOptimalProposal 
pfAuxiliaryPFOptimal 

Definition at line 70 of file CParticleFilter.h.

◆ TParticleResamplingAlgorithm

Defines the different resampling algorithms.

The implemented resampling methods are:

  • prMultinomial (Default): Uses standard select with replacement (draws M random uniform numbers)
  • prResidual: The residual or "remainder" method.
  • prStratified: The stratified resampling, where a uniform sample is drawn for each of M subdivisions of the range (0,1].
  • prSystematic: A single uniform sample is drawn in the range (0,1/M].

See the theoretical discussion in resampling schemes.

Enumerator
prMultinomial 
prResidual 
prStratified 
prSystematic 

Definition at line 92 of file CParticleFilter.h.

Constructor & Destructor Documentation

◆ CParticleFilter()

CParticleFilter::CParticleFilter ( )

Default constructor.

After creating the PF object, set the options in CParticleFilter::m_options, then execute steps through CParticleFilter::executeOn.

Definition at line 40 of file CParticleFilter.cpp.

◆ ~CParticleFilter()

mrpt::bayes::CParticleFilter::~CParticleFilter ( )
overridedefault

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ executeOn()

void CParticleFilter::executeOn ( CParticleFilterCapable obj,
const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
TParticleFilterStats stats = nullptr 
)

Executes a complete prediction + update step of the selected particle filtering algorithm.

The member CParticleFilter::m_options must be set before calling this to settle the algorithm parameters.

Parameters
objThe object representing the probability distribution function (PDF) which apply the particle filter algorithm to.
actionA pointer to an action in the form of a CActionCollection, or nullptr if there is no action.
observationA pointer to observations in the form of a CSensoryFrame, or nullptr if there is no observation.
statsAn output structure for gathering statistics of the particle filter execution, or set to nullptr if you do not need it (see CParticleFilter::TParticleFilterStats).
See also
CParticleFilterCapable, executeOn

Definition at line 45 of file CParticleFilter.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA, mrpt::bayes::CParticleFilter::TParticleFilterStats::ESS_beforeResample, mrpt::format(), m_options, MRPT_END, MRPT_LOG_DEBUG, MRPT_START, mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, pfOptimalProposal, pfStandardProposal, mrpt::square(), and mrpt::bayes::CParticleFilter::TParticleFilterStats::weightsVariance_beforeResample.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), and run_test_pf_localization().

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◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

Set the name of the COutputLogger instance.

See also
getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_options

CParticleFilter::TParticleFilterOptions mrpt::bayes::CParticleFilter::m_options

The options to be used in the PF, must be set before executing any step of the particle filter.

Definition at line 209 of file CParticleFilter.h.

Referenced by executeOn(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), and run_test_pf_localization().




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