MRPT  1.9.9
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mrpt::hmtslam::CLocalMetricHypothesis Class Reference

Detailed Description

This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs).

It has a set of particles representing the robot path in nearby poses.

See also
CHMTSLAM, CLSLAM_RBPF_2DLASER

Definition at line 65 of file CLocalMetricHypothesis.h.

#include <mrpt/hmtslam/CLocalMetricHypothesis.h>

Inheritance diagram for mrpt::hmtslam::CLocalMetricHypothesis:

Classes

struct  TRobotPosesPartitioning
 Used by AA thread. More...
 

Public Types

using CParticleDataContent = CLSLAMParticleData
 This is the type inside the corresponding CParticleData class. More...
 
using CParticleData = CProbabilityParticle< CLSLAMParticleData, particle_storage_mode::POINTER >
 Use this to refer to each element in the m_particles array. More...
 
using CParticleList = std::deque< CParticleData >
 Use this type to refer to the list of particles m_particles. More...
 
using TParticleProbabilityEvaluator = double(*)(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
 A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". More...
 

Public Member Functions

 CLocalMetricHypothesis (CHMTSLAM *parent=nullptr)
 Constructor (Default param only used from STL classes) More...
 
 ~CLocalMetricHypothesis () override
 Destructor. More...
 
 MRPT_TODO ("Separate the serializable class from this code, so we don't have to " "worry about copying locks") struct ThreadLocks
 
void getAs3DScene (mrpt::opengl::CSetOfObjects::Ptr &objs) const
 Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. More...
 
void getMeans (TMapPoseID2Pose3D &outList) const
 Returns the mean of each robot pose in this LMH, as computed from the set of particles. More...
 
void getPathParticles (std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > &outList) const
 Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More...
 
void getPoseParticles (const TPoseID &poseID, mrpt::poses::CPose3DPDFParticles &outPDF) const
 Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More...
 
void getRelativePose (const TPoseID &reference, const TPoseID &pose, mrpt::poses::CPose3DPDFParticles &outPDF) const
 Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). More...
 
void dumpAsText (std::vector< std::string > &st) const
 Describes the LMH in text. More...
 
void changeCoordinateOrigin (const TPoseID &newOrigin)
 Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. More...
 
void rebuildMetricMaps ()
 Rebuild the metric maps of all particles from the observations and their estimated poses. More...
 
void clearRobotPoses ()
 Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. More...
 
const mrpt::poses::CPose3DgetCurrentPose (const size_t &particleIdx) const
 Returns the i'th particle hypothesis for the current robot pose. More...
 
mrpt::poses::CPose3DgetCurrentPose (const size_t &particleIdx)
 Returns the i'th particle hypothesis for the current robot pose. More...
 
void removeAreaFromLMH (const CHMHMapNode::TNodeID areaID)
 Removes a given area from the LMH: More...
 
void updateAreaFromLMH (const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false)
 The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. More...
 
void clearParticles ()
 Free the memory of all the particles and reset the array "m_particles" to length zero. More...
 
void writeParticlesToStream (STREAM &out) const
 Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More...
 
void readParticlesFromStream (STREAM &in)
 Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More...
 
void getWeights (std::vector< double > &out_logWeights) const
 Returns a vector with the sequence of the logaritmic weights of all the samples. More...
 
const CParticleDatagetMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
const CLocalMetricHypothesisderived () const
 CRTP helper method. More...
 
CLocalMetricHypothesisderived ()
 CRTP helper method. More...
 
double getW (size_t i) const override
 Access to i'th particle (logarithm) weight, where first one is index 0. More...
 
void setW (size_t i, double w) override
 Modifies i'th particle (logarithm) weight, where first one is index 0. More...
 
size_t particlesCount () const override
 Get the m_particles count. More...
 
double normalizeWeights (double *out_max_log_w=nullptr) override
 Normalize the (logarithmic) weights, such as the maximum weight is zero. More...
 
double ESS () const override
 Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...
 
void performSubstitution (const std::vector< size_t > &indx) override
 Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change. More...
 
void prepareFastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void *action=nullptr, const void *observation=nullptr) const
 Prepares data structures for calling fastDrawSample method next. More...
 
size_t fastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const
 Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). More...
 
void prediction_and_update (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the prediction stage of the Particle Filter. More...
 
void performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, size_t out_particle_count=0)
 Performs a resample of the m_particles, using the method selected in the constructor. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static double defaultEvaluator (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
 The default evaluator function, which simply returns the particle weight. More...
 
static void computeResampling (CParticleFilter::TParticleResamplingAlgorithm method, const std::vector< double > &in_logWeights, std::vector< size_t > &out_indexes, size_t out_particle_count=0)
 A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. More...
 
static void log2linearWeights (const std::vector< double > &in_logWeights, std::vector< double > &out_linWeights)
 A static method to compute the linear, normalized (the sum the unity) weights from log-weights. More...
 

Public Attributes

 threadLocks
 
THypothesisID m_ID
 The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). More...
 
mrpt::safe_ptr< CHMTSLAMm_parent
 For quick access to our parent object. More...
 
TPoseID m_currentRobotPose
 The current robot pose (its global unique ID) for this hypothesis. More...
 
TNodeIDSet m_neighbors
 The list of all areas sourronding the current one (this includes the current area itself). More...
 
std::map< TPoseID, CHMHMapNode::TNodeIDm_nodeIDmemberships
 The hybrid map node membership for each robot pose. More...
 
std::map< TPoseID, mrpt::obs::CSensoryFramem_SFs
 The SF gathered at each robot pose. More...
 
TPoseIDList m_posesPendingAddPartitioner
 The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. More...
 
TNodeIDList m_areasPendingTBI
 The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. More...
 
double m_log_w
 Log-weight of this hypothesis. More...
 
std::vector< std::map< TPoseID, double > > m_log_w_metric_history
 The historic log-weights of the metric observations inserted in this LMH, for each particle. More...
 
mrpt::obs::CActionRobotMovement2D m_accumRobotMovement
 Used in CLSLAM_RBPF_2DLASER. More...
 
bool m_accumRobotMovementIsValid
 Used in CLSLAM_RBPF_2DLASER. More...
 
struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning m_robotPosesGraph
 
CParticleList m_particles
 The array of particles. More...
 

Static Public Attributes

static const particle_storage_mode PARTICLE_STORAGE
 

Protected Member Functions

virtual void prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
virtual void prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
Virtual methods for Particle Filter implementation (just a wrapper

interface, actually implemented in CHMTSLAM::m_LSLAM_method)

void prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
 The PF algorithm implementation. More...
 
void prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
 The PF algorithm implementation. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

mrpt::math::CVectorDouble m_pfAuxiliaryPFOptimal_estimatedProb
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< double > m_maxLikelihood
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< mrpt::poses::CPose2Dm_movementDraws
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
unsigned int m_movementDrawsIdx
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< mrpt::poses::CPose2Dm_movementDrawMaximumLikelihood
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
TFastDrawAuxVars m_fastDrawAuxiliary
 Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...
 

Friends

class CLSLAM_RBPF_2DLASER
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::hmtslam ::CLocalMetricHypothesis >
 
using ConstPtr = std::shared_ptr< const mrpt::hmtslam ::CLocalMetricHypothesis >
 
using UniquePtr = std::unique_ptr< mrpt::hmtslam ::CLocalMetricHypothesis >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::hmtslam ::CLocalMetricHypothesis >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::hmtslam" "::" "CLocalMetricHypothesis"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ ConstUniquePtr

using mrpt::hmtslam::CLocalMetricHypothesis::ConstUniquePtr = std::unique_ptr<const mrpt::hmtslam :: CLocalMetricHypothesis >

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ CParticleData

using mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::CParticleData = CProbabilityParticle<CLSLAMParticleData , particle_storage_mode::POINTER >
inherited

Use this to refer to each element in the m_particles array.

Definition at line 189 of file CParticleFilterData.h.

◆ CParticleDataContent

using mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::CParticleDataContent = CLSLAMParticleData
inherited

This is the type inside the corresponding CParticleData class.

Definition at line 187 of file CParticleFilterData.h.

◆ CParticleList

using mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::CParticleList = std::deque<CParticleData>
inherited

Use this type to refer to the list of particles m_particles.

Definition at line 191 of file CParticleFilterData.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ TParticleProbabilityEvaluator

using mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator = double (*)( const bayes::CParticleFilter::TParticleFilterOptions& PF_options, const CParticleFilterCapable* obj, size_t index, const void* action, const void* observation)
inherited

A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample".

The default evaluator function "defaultEvaluator" simply returns the particle weight.

Parameters
indexThis is the index of the particle its probability is being computed.
actionThe value of this is the parameter passed to "prepareFastDrawSample"
observationThe value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility.
See also
prepareFastDrawSample

Definition at line 60 of file CParticleFilterCapable.h.

◆ UniquePtr

using mrpt::hmtslam::CLocalMetricHypothesis::UniquePtr = std::unique_ptr< mrpt::hmtslam :: CLocalMetricHypothesis >

Definition at line 74 of file CLocalMetricHypothesis.h.

Constructor & Destructor Documentation

◆ CLocalMetricHypothesis()

CLocalMetricHypothesis::CLocalMetricHypothesis ( CHMTSLAM parent = nullptr)

Constructor (Default param only used from STL classes)

Definition at line 41 of file CLocalMetricHypothesis.cpp.

◆ ~CLocalMetricHypothesis()

CLocalMetricHypothesis::~CLocalMetricHypothesis ( )
override

Destructor.

Definition at line 52 of file CLocalMetricHypothesis.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass ( )
staticprotected

◆ changeCoordinateOrigin()

void CLocalMetricHypothesis::changeCoordinateOrigin ( const TPoseID newOrigin)

Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well.

Definition at line 565 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::poses::CPose3D::asTPose(), CLASS_ID, and mrpt::maps::CSimpleMap::get().

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◆ clearParticles()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::clearParticles ( )
inlineinherited

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 201 of file CParticleFilterData.h.

◆ clearRobotPoses()

void CLocalMetricHypothesis::clearRobotPoses ( )

Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses.

Sets the number of particles to the initial number according to the PF options, and initialize them with no robot poses & empty metric maps.

Definition at line 488 of file CLocalMetricHypothesis.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CLocalMetricHypothesis::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ computeResampling()

void CParticleFilterCapable::computeResampling ( CParticleFilter::TParticleResamplingAlgorithm  method,
const std::vector< double > &  in_logWeights,
std::vector< size_t > &  out_indexes,
size_t  out_particle_count = 0 
)
staticinherited

A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method.

It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling

Parameters
[in]out_particle_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See also
performResampling

Definition at line 61 of file CParticleFilterCapable.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), mrpt::random::getRandomGenerator(), mrpt::math::maximum(), MRPT_END, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::prResidual, mrpt::bayes::CParticleFilter::prStratified, mrpt::bayes::CParticleFilter::prSystematic, R, and THROW_EXCEPTION.

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◆ Create()

template<typename... Args>
static Ptr mrpt::hmtslam::CLocalMetricHypothesis::Create ( Args &&...  args)
inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::hmtslam::CLocalMetricHypothesis::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CLocalMetricHypothesis::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::hmtslam::CLocalMetricHypothesis::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ defaultEvaluator()

static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  index,
const void action,
const void observation 
)
inlinestaticinherited

The default evaluator function, which simply returns the particle weight.

The action and the observation are declared as "void*" for a greater flexibility.

See also
prepareFastDrawSample

Definition at line 68 of file CParticleFilterCapable.h.

References MRPT_UNUSED_PARAM.

◆ derived() [1/2]

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

◆ derived() [2/2]

CRTP helper method.

Definition at line 39 of file CParticleFilterData.h.

◆ dumpAsText()

void CLocalMetricHypothesis::dumpAsText ( std::vector< std::string > &  st) const

Describes the LMH in text.

Definition at line 886 of file CLocalMetricHypothesis.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ ESS()

Returns the normalized ESS (Estimated Sample Size), in the range [0,1].

Note that you do NOT need to normalize the weights before calling this.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 84 of file CParticleFilterData.h.

◆ fastDrawSample()

size_t CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options) const
inherited

Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm).

This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the Particle Filter tutorial.

NOTES:

  • You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
  • This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
  • You do not need to call "normalizeWeights" before calling this.
    See also
    prepareFastDrawSample

Definition at line 486 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

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◆ getAs3DScene()

void CLocalMetricHypothesis::getAs3DScene ( mrpt::opengl::CSetOfObjects::Ptr objs) const

Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to.

The metric maps are not included here for convenience, call m_metricMaps.getAs3DScene(). The previous contents of "objs" will be discarded

Definition at line 60 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::opengl::stock_objects::CornerXYZ(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::opengl::CArrow::Create(), mrpt::format(), mrpt::poses::CPose3DPDFGaussian::mean, NODE_ANNOTATION_REF_POSEID, mrpt::poses::CPose3D::pitch(), mrpt::RAD2DEG(), mrpt::opengl::stock_objects::RobotPioneer(), mrpt::poses::CPose3D::roll(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

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◆ getClassName()

static constexpr auto mrpt::hmtslam::CLocalMetricHypothesis::getClassName ( )
inlinestatic

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ getCurrentPose() [1/2]

const CPose3D * CLocalMetricHypothesis::getCurrentPose ( const size_t &  particleIdx) const

Returns the i'th particle hypothesis for the current robot pose.

Definition at line 507 of file CLocalMetricHypothesis.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

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◆ getCurrentPose() [2/2]

CPose3D * CLocalMetricHypothesis::getCurrentPose ( const size_t &  particleIdx)

Returns the i'th particle hypothesis for the current robot pose.

Definition at line 521 of file CLocalMetricHypothesis.cpp.

References ASSERT_, and THROW_EXCEPTION.

◆ getMeans()

void CLocalMetricHypothesis::getMeans ( TMapPoseID2Pose3D outList) const

Returns the mean of each robot pose in this LMH, as computed from the set of particles.

See also
getPathParticles, getRelativePose

Definition at line 409 of file CLocalMetricHypothesis.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

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◆ getMostLikelyParticle()

const CParticleData* mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::getMostLikelyParticle ( ) const
inlineinherited

Returns the particle with the highest weight.

Definition at line 270 of file CParticleFilterData.h.

◆ getPathParticles()

void CLocalMetricHypothesis::getPathParticles ( std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > &  outList) const

Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.

See also
getMeans, getPoseParticles

Definition at line 430 of file CLocalMetricHypothesis.cpp.

References MRPT_END, and MRPT_START.

◆ getPoseParticles()

void CLocalMetricHypothesis::getPoseParticles ( const TPoseID poseID,
mrpt::poses::CPose3DPDFParticles outPDF 
) const

Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.

See also
getMeans, getPathParticles

Definition at line 463 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::math::internal::ProvideStaticResize< Derived >::size().

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::hmtslam::CHMTSLAM::perform_TLC().

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◆ getRelativePose()

void CLocalMetricHypothesis::getRelativePose ( const TPoseID reference,
const TPoseID pose,
mrpt::poses::CPose3DPDFParticles outPDF 
) const

Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH).

See also
getMeans, getPoseParticles

Definition at line 534 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::math::internal::ProvideStaticResize< Derived >::size().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClassIdStatic ( )
static

◆ getW()

Access to i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 40 of file CParticleFilterData.h.

◆ getWeights()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::getWeights ( std::vector< double > &  out_logWeights) const
inlineinherited

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 256 of file CParticleFilterData.h.

◆ log2linearWeights()

void CParticleFilterCapable::log2linearWeights ( const std::vector< double > &  in_logWeights,
std::vector< double > &  out_linWeights 
)
staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See also
performResampling

Definition at line 552 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ MRPT_TODO()

mrpt::hmtslam::CLocalMetricHypothesis::MRPT_TODO ( "Separate the serializable class from this  code,
so we don 't have to " "worry about copying locks"   
)
inline

Definition at line 85 of file CLocalMetricHypothesis.h.

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::normalizeWeights ( double *  out_max_log_w = nullptr)
inlineoverridevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters
out_max_log_wIf provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w.
Returns
The max/min ratio of weights ("dynamic range")

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 59 of file CParticleFilterData.h.

◆ particlesCount()

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 54 of file CParticleFilterData.h.

◆ performResampling()

void CParticleFilterCapable::performResampling ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
size_t  out_particle_count = 0 
)
inherited

Performs a resample of the m_particles, using the method selected in the constructor.

After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample"

Parameters
[in]out_particle_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See also
resample

Definition at line 29 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod.

◆ performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CLocalMetricHypothesis , mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::performSubstitution ( const std::vector< size_t > &  indx)
inlineoverridevirtualinherited

Replaces the old particles by copies determined by the indexes in "indx", performing an efficient copy of the necesary particles only and allowing the number of particles to change.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 109 of file CParticleFilterData.h.

◆ prediction_and_update()

void CParticleFilterCapable::prediction_and_update ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
inherited

◆ prediction_and_update_pfAuxiliaryPFOptimal()

void CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
overrideprotectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 382 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

◆ prediction_and_update_pfAuxiliaryPFStandard()

void CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

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

Definition at line 322 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ prediction_and_update_pfOptimalProposal()

void CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
overrideprotectedvirtual

The PF algorithm implementation.

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 393 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

◆ prediction_and_update_pfStandardProposal()

void CParticleFilterCapable::prediction_and_update_pfStandardProposal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

Reimplemented in CRangeBearingParticleFilter, mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 307 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ prepareFastDrawSample()

void CParticleFilterCapable::prepareFastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
TParticleProbabilityEvaluator  partEvaluator = defaultEvaluator,
const void action = nullptr,
const void observation = nullptr 
) const
inherited

Prepares data structures for calling fastDrawSample method next.

This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see CParticleFilter::TParticleFilterOptions):

  • DYNAMIC SAMPLE SIZE=NO: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.
  • DYNAMIC SAMPLE SIZE=YES: Then:
    • If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.
    • For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.

The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the Particle Filter tutorial. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights.

See also
fastDrawSample

Definition at line 367 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, ASSERT_, mrpt::math::maximum(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

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◆ readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::readParticlesFromStream ( STREAM &  in)
inlineinherited

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See also
writeParticlesToStream

Definition at line 229 of file CParticleFilterData.h.

◆ rebuildMetricMaps()

void CLocalMetricHypothesis::rebuildMetricMaps ( )

Rebuild the metric maps of all particles from the observations and their estimated poses.

Definition at line 617 of file CLocalMetricHypothesis.cpp.

References ASSERT_.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC().

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◆ removeAreaFromLMH()

void CLocalMetricHypothesis::removeAreaFromLMH ( const CHMHMapNode::TNodeID  areaID)

Removes a given area from the LMH:

  • The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
  • Robot poses belonging to that area are removed from:
    • the particles.
    • the graph partitioner.
    • the list of SFs.
    • the list m_nodeIDmemberships.
  • m_neighbors is updated.

The weights of all particles are changed to remove the effects of the removed metric observations.

  • After calling this the metric maps should be updated.

This method internally calls updateAreaFromLMH

  • The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.
  • Robot poses belonging to that area are removed from:
    • the particles.
    • the graph partitioner.
    • the list of SFs.
    • the list m_nodeIDmemberships.
    • The weights of all particles are changed to remove the effects of the removed metric observations.
  • After calling this the metric maps should be updated.

Definition at line 651 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::containers::list_searchable< T >::find(), mrpt::containers::list_searchable< T >::insert(), MRPT_CHECK_NORMAL_NUMBER, MRPT_END, and MRPT_START.

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◆ serializeFrom() [1/2]

void CLocalMetricHypothesis::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 914 of file CLocalMetricHypothesis.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CLocalMetricHypothesis::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 935 of file CLocalMetricHypothesis.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CLocalMetricHypothesis::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 936 of file CLocalMetricHypothesis.cpp.

References out.

◆ setW()

Modifies i'th particle (logarithm) weight, where first one is index 0.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 47 of file CParticleFilterData.h.

◆ updateAreaFromLMH()

void CLocalMetricHypothesis::updateAreaFromLMH ( const CHMHMapNode::TNodeID  areaID,
bool  eraseSFsFromLMH = false 
)

The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin.

If eraseSFsFromLMH=true, the sensoryframes are moved rather than copied to the area, and removed from the LMH.

Note
The critical section m_map_cs is locked internally, unlock it before calling this.

Definition at line 782 of file CLocalMetricHypothesis.cpp.

References ASSERT_, mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::containers::list_searchable< T >::insert(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::hmtslam::TPoseInfo::pdf, mrpt::hmtslam::TPoseInfo::sf, and mrpt::poses::CPose3DPDFParticles::size().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

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◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::writeParticlesToStream ( STREAM &  out) const
inlineinherited

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See also
readParticlesFromStream

Definition at line 207 of file CParticleFilterData.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ CLSLAM_RBPF_2DLASER

friend class CLSLAM_RBPF_2DLASER
friend

Definition at line 72 of file CLocalMetricHypothesis.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::hmtslam::CLocalMetricHypothesis::className = "mrpt::hmtslam" "::" "CLocalMetricHypothesis"
static

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ m_accumRobotMovement

mrpt::obs::CActionRobotMovement2D mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement

◆ m_accumRobotMovementIsValid

bool mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid

◆ m_areasPendingTBI

TNodeIDList mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI

The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures.

Set in CHMTSLAM::LSLAM_process_message_from_AA, read in

Definition at line 118 of file CLocalMetricHypothesis.h.

◆ m_currentRobotPose

TPoseID mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose

◆ m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary
mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 283 of file CParticleFilterCapable.h.

◆ m_ID

THypothesisID mrpt::hmtslam::CLocalMetricHypothesis::m_ID

◆ m_log_w

double mrpt::hmtslam::CLocalMetricHypothesis::m_log_w

◆ m_log_w_metric_history

std::vector<std::map<TPoseID, double> > mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history

The historic log-weights of the metric observations inserted in this LMH, for each particle.

Definition at line 124 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ m_maxLikelihood

std::vector<double> mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 272 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_movementDrawMaximumLikelihood

std::vector<mrpt::poses::CPose2D> mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawMaximumLikelihood
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 281 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_movementDraws

std::vector<mrpt::poses::CPose2D> mrpt::hmtslam::CLocalMetricHypothesis::m_movementDraws
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 275 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_movementDrawsIdx

unsigned int mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawsIdx
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 278 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_neighbors

TNodeIDSet mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors

The list of all areas sourronding the current one (this includes the current area itself).

Definition at line 107 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CHMTSLAM::TBI_main_method().

◆ m_nodeIDmemberships

std::map<TPoseID, CHMHMapNode::TNodeID> mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships

The hybrid map node membership for each robot pose.

Definition at line 109 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ m_parent

mrpt::safe_ptr<CHMTSLAM> mrpt::hmtslam::CLocalMetricHypothesis::m_parent

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::m_particles
inherited

The array of particles.

Definition at line 195 of file CParticleFilterData.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

mrpt::math::CVectorDouble mrpt::hmtslam::CLocalMetricHypothesis::m_pfAuxiliaryPFOptimal_estimatedProb
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 268 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ m_posesPendingAddPartitioner

TPoseIDList mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner

The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop.

Definition at line 114 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ m_robotPosesGraph

struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph

◆ m_SFs

std::map<TPoseID, mrpt::obs::CSensoryFrame> mrpt::hmtslam::CLocalMetricHypothesis::m_SFs

◆ PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< CLSLAMParticleData , particle_storage_mode::POINTER >::PARTICLE_STORAGE
staticinherited

Definition at line 192 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CLocalMetricHypothesis::runtimeClassId
staticprotected

Definition at line 74 of file CLocalMetricHypothesis.h.

◆ threadLocks

mrpt::hmtslam::CLocalMetricHypothesis::threadLocks

Definition at line 94 of file CLocalMetricHypothesis.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().




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