MRPT  1.9.9
mrpt::maps::CMultiMetricMapPDF Class Referenceabstract

Detailed Description

Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications).

This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"

See also
mrpt::slam::CMetricMapBuilderRBPF

Definition at line 57 of file CMultiMetricMapPDF.h.

#include <mrpt/maps/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::maps::CMultiMetricMapPDF:

Classes

struct  TPredictionParams
 The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. More...
 

Public Types

using CParticleDataContent = CRBPFParticleData
 This is the type inside the corresponding CParticleData class. More...
 
using CParticleData = CProbabilityParticle< CRBPFParticleData, 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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
 CMultiMetricMapPDF ()=default
 Constructor. More...
 
 CMultiMetricMapPDF (const bayes::CParticleFilter::TParticleFilterOptions &opts, const mrpt::maps::TSetOfMetricMapInitializers &mapsInitializers, const TPredictionParams &predictionOptions)
 
void clear (const mrpt::poses::CPose2D &initialPose)
 Clear all elements of the maps, and restore all paths to a single starting pose. More...
 
void clear (const mrpt::poses::CPose3D &initialPose)
 
void clear (const mrpt::maps::CSimpleMap &prevMap, const mrpt::poses::CPose3D &currentPose)
 Resets the map by loading an already-mapped map for past poses. More...
 
void getEstimatedPosePDFAtTime (size_t timeStep, mrpt::poses::CPose3DPDFParticles &out_estimation) const
 Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. More...
 
void getEstimatedPosePDF (mrpt::poses::CPose3DPDFParticles &out_estimation) const
 Returns the current estimate of the robot pose, as a particles PDF. More...
 
const CMultiMetricMapgetAveragedMetricMapEstimation ()
 Returns the weighted averaged map based on the current best estimation. More...
 
const CMultiMetricMapgetCurrentMostLikelyMetricMap () const
 Returns a pointer to the current most likely map (associated to the most likely particle) More...
 
size_t getNumberOfObservationsInSimplemap () const
 Get the number of CSensoryFrame inserted into the internal member SFs. More...
 
bool insertObservation (mrpt::obs::CSensoryFrame &sf)
 Insert an observation to the map, at each particle's pose and to each particle's metric map. More...
 
void getPath (size_t i, std::deque< math::TPose3D > &out_path) const
 Return the path (in absolute coordinate poses) for the i'th particle. More...
 
double getCurrentEntropyOfPaths ()
 Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance. More...
 
double getCurrentJointEntropy ()
 Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. More...
 
void updateSensoryFrameSequence ()
 Update the poses estimation of the member "SFs" according to the current path belief. More...
 
void saveCurrentPathEstimationToTextFile (const std::string &fil)
 A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). 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...
 
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 CMultiMetricMapPDFderived () const
 CRTP helper method. More...
 
CMultiMetricMapPDFderived ()
 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...
 
bool PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf)
 Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing. More...
 
Virtual methods that the PF_implementations assume exist.
mrpt::math::TPose3D getLastPose (const size_t i, bool &pose_is_valid) const override
 Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose. More...
 
void PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const mrpt::math::TPose3D &newPose) const override
 
bool PF_SLAM_implementation_doWeHaveValidObservations (const CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const override
 
bool PF_SLAM_implementation_skipRobotMovement () const override
 Do not move the particles until the map is populated. More...
 
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 override
 Evaluate the observation likelihood for one particle at a given location. 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...
 
Virtual methods that the PF_implementations assume exist.
virtual void PF_SLAM_implementation_custom_update_particle_with_new_pose (CRBPFParticleData *particleData, const mrpt::math::TPose3D &newPose) const=0
 
virtual void PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< CRBPFParticleData, STORAGE >::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< CRBPFParticleData, STORAGE >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
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...
 
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

mrpt::maps::CMultiMetricMapPDF::TPredictionParams options
 
CParticleList m_particles
 The array of particles. More...
 

Static Public Attributes

static const particle_storage_mode PARTICLE_STORAGE
 

Protected Member Functions

void prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
 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...
 
void prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
 Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
void prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
 Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
void prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) override
 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...
 
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...
 
The generic PF implementations for localization & SLAM.
void PF_SLAM_implementation_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
 A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping. More...
 
void PF_SLAM_implementation_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
 A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping. More...
 
void PF_SLAM_implementation_pfStandardProposal (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options)
 A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping. More...
 

Protected Attributes

TFastDrawAuxVars m_fastDrawAuxiliary
 Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Private Member Functions

void rebuildAverageMap ()
 Rebuild the "expected" grid map. More...
 

Private Attributes

mrpt::maps::CMultiMetricMap averageMap
 Internal buffer for the averaged map. More...
 
bool averageMapIsUpdated {false}
 
mrpt::maps::CSimpleMap SFs
 The SFs and their corresponding pose estimations. More...
 
std::vector< uint32_tSF2robotPath
 A mapping between indexes in the SFs to indexes in the robot paths from particles. More...
 
float newInfoIndex {0}
 An index [0,1] measuring how much information an observation aports to the map (Typ. More...
 

Friends

class mrpt::slam::CMetricMapBuilderRBPF
 

RTTI stuff

using Ptr = std::shared_ptr< CMultiMetricMapPDF >
 
using ConstPtr = std::shared_ptr< const CMultiMetricMapPDF >
 
using UniquePtr = std::unique_ptr< CMultiMetricMapPDF >
 
using ConstUniquePtr = std::unique_ptr< const CMultiMetricMapPDF >
 
static mrpt::rtti::CLASSINIT _init_CMultiMetricMapPDF
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CMultiMetricMapPDF"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::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...
 

Data members and methods used by generic PF implementations

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...
 
static double PF_SLAM_particlesEvaluator_AuxPFOptimal (const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const mrpt::bayes::CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
 
mrpt::obs::CActionRobotMovement2D m_accumRobotMovement2D
 
bool m_accumRobotMovement2DIsValid
 
mrpt::poses::CPose3DPDFGaussian m_accumRobotMovement3D
 
bool m_accumRobotMovement3DIsValid
 
mrpt::poses::CPoseRandomSampler m_movementDrawer
 Used in al PF implementations. More...
 
mrpt::math::CVectorDouble m_pfAuxiliaryPFOptimal_estimatedProb
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
mrpt::math::CVectorDouble m_pfAuxiliaryPFStandard_estimatedProb
 Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm. More...
 
mrpt::math::CVectorDouble m_pfAuxiliaryPFOptimal_maxLikelihood
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< mrpt::math::TPose3Dm_pfAuxiliaryPFOptimal_maxLikDrawnMovement
 Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...
 
std::vector< bool > m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
 

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, const std::string &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 Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ CParticleData

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

This is the type inside the corresponding CParticleData class.

Definition at line 187 of file CParticleFilterData.h.

◆ CParticleList

using mrpt::bayes::CParticleFilterData< CRBPFParticleData , 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 69 of file CMultiMetricMapPDF.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

Definition at line 69 of file CMultiMetricMapPDF.h.

Constructor & Destructor Documentation

◆ CMultiMetricMapPDF() [1/2]

mrpt::maps::CMultiMetricMapPDF::CMultiMetricMapPDF ( )
default

Constructor.

◆ CMultiMetricMapPDF() [2/2]

CMultiMetricMapPDF::CMultiMetricMapPDF ( const bayes::CParticleFilter::TParticleFilterOptions opts,
const mrpt::maps::TSetOfMetricMapInitializers mapsInitializers,
const TPredictionParams predictionOptions 
)

Definition at line 47 of file CMultiMetricMapPDF.cpp.

References mrpt::containers::clear().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMultiMetricMapPDF::_GetBaseClass ( )
staticprotected

◆ clear() [1/3]

void CMultiMetricMapPDF::clear ( const mrpt::poses::CPose2D initialPose)

Clear all elements of the maps, and restore all paths to a single starting pose.

Definition at line 71 of file CMultiMetricMapPDF.cpp.

References mrpt::containers::clear().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), and mrpt::slam::CMetricMapBuilderRBPF::initialize().

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◆ clear() [2/3]

void CMultiMetricMapPDF::clear ( const mrpt::poses::CPose3D initialPose)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 80 of file CMultiMetricMapPDF.cpp.

References mrpt::poses::CPose3D::asTPose().

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◆ clear() [3/3]

void CMultiMetricMapPDF::clear ( const mrpt::maps::CSimpleMap prevMap,
const mrpt::poses::CPose3D currentPose 
)

Resets the map by loading an already-mapped map for past poses.

Current robot pose should be normally set to the last keyframe in the simplemap.

Definition at line 99 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::poses::CPose3D::asTPose(), mrpt::maps::CSimpleMap::clear(), mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), IS_CLASS, and mrpt::maps::CSimpleMap::size().

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◆ clearParticles()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , 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.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CMultiMetricMapPDF::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::maps::CMultiMetricMapPDF::Create ( Args &&...  args)
inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ CreateAlloc()

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

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::maps::CMultiMetricMapPDF::CreateObject ( )
static

◆ CreateUnique()

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

Definition at line 69 of file CMultiMetricMapPDF.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]

◆ 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.

◆ 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 170 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.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::square().

◆ 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 489 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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◆ getAveragedMetricMapEstimation()

const CMultiMetricMap * CMultiMetricMapPDF::getAveragedMetricMapEstimation ( )

Returns the weighted averaged map based on the current best estimation.

If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy.

See also
Almost 100% sure you would prefer the best current map, given by getCurrentMostLikelyMetricMap()

Definition at line 281 of file CMultiMetricMapPDF.cpp.

◆ getClassName()

static constexpr auto mrpt::maps::CMultiMetricMapPDF::getClassName ( )
inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ getCurrentEntropyOfPaths()

double CMultiMetricMapPDF::getCurrentEntropyOfPaths ( )

Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance.

Definition at line 444 of file CMultiMetricMapPDF.cpp.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceEntropy().

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◆ getCurrentJointEntropy()

double CMultiMetricMapPDF::getCurrentJointEntropy ( )

Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C.

Stachniss, G. Grissetti and W.Burgard.

Definition at line 474 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::maps::COccupancyGridMap2D::computeEntropy(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, min, and mrpt::maps::COccupancyGridMap2D::resizeGrid().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentJointEntropy().

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◆ getCurrentMostLikelyMetricMap()

const CMultiMetricMap * CMultiMetricMapPDF::getCurrentMostLikelyMetricMap ( ) const

Returns a pointer to the current most likely map (associated to the most likely particle)

Definition at line 525 of file CMultiMetricMapPDF.cpp.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap().

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◆ getEstimatedPosePDF()

void CMultiMetricMapPDF::getEstimatedPosePDF ( mrpt::poses::CPose3DPDFParticles out_estimation) const

Returns the current estimate of the robot pose, as a particles PDF.

See also
getEstimatedPosePDFAtTime

Definition at line 167 of file CMultiMetricMapPDF.cpp.

References ASSERT_.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ getEstimatedPosePDFAtTime()

void CMultiMetricMapPDF::getEstimatedPosePDFAtTime ( size_t  timeStep,
mrpt::poses::CPose3DPDFParticles out_estimation 
) const

Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1.

See also
getEstimatedPosePDF

Definition at line 178 of file CMultiMetricMapPDF.cpp.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::clearParticles(), and mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles.

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◆ getLastPose()

TPose3D CMultiMetricMapPDF::getLastPose ( const size_t  i,
bool &  is_valid_pose 
) const
overridevirtual

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::exceptionon out-of-range particle index

Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.

Definition at line 264 of file CMultiMetricMapPDF.cpp.

References THROW_EXCEPTION.

◆ 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 200 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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◆ getMostLikelyParticle()

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

Returns the particle with the highest weight.

Definition at line 270 of file CParticleFilterData.h.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.

◆ getNumberOfObservationsInSimplemap()

size_t mrpt::maps::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap ( ) const
inline

Get the number of CSensoryFrame inserted into the internal member SFs.

Definition at line 198 of file CMultiMetricMapPDF.h.

References SFs, and mrpt::maps::CSimpleMap::size().

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◆ getPath()

void CMultiMetricMapPDF::getPath ( size_t  i,
std::deque< math::TPose3D > &  out_path 
) const

Return the path (in absolute coordinate poses) for the i'th particle.

Exceptions
Onindex out of bounds

Definition at line 434 of file CMultiMetricMapPDF.cpp.

References THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), and mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMultiMetricMapPDF::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::maps::CMultiMetricMapPDF::GetRuntimeClassIdStatic ( )
static

◆ getW()

double mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::getW ( size_t  i) const
inlineoverridevirtualinherited

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.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.

◆ getWeights()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , 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.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.

◆ insertObservation()

bool CMultiMetricMapPDF::insertObservation ( mrpt::obs::CSensoryFrame sf)

Insert an observation to the map, at each particle's pose and to each particle's metric map.

Parameters
sfThe SF to be inserted
Returns
true if any may was updated, false otherwise

Definition at line 401 of file CMultiMetricMapPDF.cpp.

References mrpt::obs::CSensoryFrame::insertObservationsInto().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ isLoggingLevelVisible()

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

Definition at line 201 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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◆ 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 555 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ 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,
const std::string 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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◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::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.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::maps::CMultiMetricMapPDF::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator delete() [2/3]

void mrpt::maps::CMultiMetricMapPDF::operator delete ( void ptr)
inlinenoexcept

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator delete() [3/3]

void mrpt::maps::CMultiMetricMapPDF::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator delete[]()

void mrpt::maps::CMultiMetricMapPDF::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator new() [1/3]

void* mrpt::maps::CMultiMetricMapPDF::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator new() [2/3]

void* mrpt::maps::CMultiMetricMapPDF::operator new ( size_t  size)
inline

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator new() [3/3]

static void* mrpt::maps::CMultiMetricMapPDF::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ operator new[]()

void* mrpt::maps::CMultiMetricMapPDF::operator new[] ( size_t  size)
inline

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ particlesCount()

◆ 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< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::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.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), MRPT_END, MRPT_START, and mrpt::bayes::POINTER.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

double CMultiMetricMapPDF::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
overridevirtual

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

Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.

Definition at line 1013 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::maps::CMetricMap::computeObservationLikelihood(), and MRPT_UNUSED_PARAM.

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◆ PF_SLAM_implementation_custom_update_particle_with_new_pose() [1/2]

virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_custom_update_particle_with_new_pose ( CRBPFParticleData *  particleData,
const mrpt::math::TPose3D newPose 
) const
pure virtualinherited

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose() [2/2]

void CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose ( CParticleDataContent particleData,
const mrpt::math::TPose3D newPose 
) const
override

◆ PF_SLAM_implementation_doWeHaveValidObservations() [1/2]

bool CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations ( const CParticleList particles,
const mrpt::obs::CSensoryFrame sf 
) const
override

Definition at line 992 of file CMultiMetricMapPDF_RBPF.cpp.

References ASSERT_.

◆ PF_SLAM_implementation_doWeHaveValidObservations() [2/2]

virtual bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_doWeHaveValidObservations ( const typename mrpt::bayes::CParticleFilterData< CRBPFParticleData , STORAGE >::CParticleList &  particles,
const mrpt::obs::CSensoryFrame sf 
) const
inlinevirtualinherited

Definition at line 260 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_gatherActionsCheckBothActObs()

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_gatherActionsCheckBothActObs ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf 
)
inherited

Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.

On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.

Definition at line 47 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options 
)
protectedinherited

A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation), common to both localization and mapping.

  • BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

    This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:

    J.L. Blanco, J. Gonzalez, and J.-A. Fernandez-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461-466.

  • BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

    This method implements optimal sampling with a rejection sampling-based approximation of the true posterior. For details, see the papers:

    J.-L. Blanco, J. Gonzalez, and J.-A. Fernandez-Madrigal, "An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization," in Proc. IEEE International Conference on Robotics and Automation (ICRA'08), 2008, pp. 461466.

Definition at line 156 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options 
)
protectedinherited

A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal), common to both localization and mapping.

  • BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

    This method is described in the paper: Pitt, M.K.; Shephard, N. (1999). "Filtering Via Simulation: Auxiliary Particle Filters". Journal of the American Statistical Association 94 (446): 590-591. doi:10.2307/2670179.

Definition at line 406 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfStandardProposal()

void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_pfStandardProposal ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options 
)
protectedinherited

A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter), common to both localization and mapping.

  • BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.

Definition at line 180 of file PF_implementations.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet()

virtual void mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_implementation_replaceByNewParticleSet ( typename mrpt::bayes::CParticleFilterData< CRBPFParticleData , STORAGE >::CParticleList &  old_particles,
const std::vector< mrpt::math::TPose3D > &  newParticles,
const std::vector< double > &  newParticlesWeight,
const std::vector< size_t > &  newParticlesDerivedFromIdx 
) const
inlinevirtualinherited

This is the default algorithm to efficiently replace one old set of samples by another new set.

The method uses pointers to make fast copies the first time each particle is duplicated, then makes real copies for the next ones.

Note that more efficient specializations might exist for specific particle data structs.

Definition at line 177 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_skipRobotMovement()

bool CMultiMetricMapPDF::PF_SLAM_implementation_skipRobotMovement ( ) const
overridevirtual

Do not move the particles until the map is populated.

Reimplemented from mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF, mrpt::bayes::particle_storage_mode::POINTER >.

Definition at line 1004 of file CMultiMetricMapPDF_RBPF.cpp.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::PF_SLAM_particlesEvaluator_AuxPFOptimal ( const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
const mrpt::bayes::CParticleFilterCapable obj,
size_t  index,
const void action,
const void observation 
)
staticprotectedinherited

Definition at line 426 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

double mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::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 
)
staticprotectedinherited

Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.

Parameters
actionMUST be a "const CPose3D*"
observationMUST be a "const CSensoryFrame*"
actionMUST be a "const mrpt::poses::CPose3D*"
observationMUST be a "const CSensoryFrame*"

Definition at line 506 of file PF_implementations.h.

◆ prediction_and_update()

◆ prediction_and_update_pfAuxiliaryPFOptimal()

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

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

See also
prediction_and_update

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 144 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ prediction_and_update_pfAuxiliaryPFStandard()

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

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 from mrpt::bayes::CParticleFilterCapable.

Definition at line 160 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ prediction_and_update_pfOptimalProposal()

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

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

See also
prediction_and_update

if (prior_dist_lin>0.10 || prior_dist_ang>DEG2RAD(3)) / printf(" >>>>>>>>>> %f %f\n",prior_dist_lin,RAD2DEG(prior_dist_ang));

/

COpenGLScene scene; opengl::CSetOfObjects *obj = new opengl::CSetOfObjects(); fusedObsModels.getAs3DObject( *obj ); scene.insert( obj ); CFileStream("debug.3Dscene",fomWrite) << scene; cout << "fusedObsModels # of modes: " << fusedObsModels.m_modes.size() << endl; printf("ESS: %f\n",fusedObsModels.ESS() ); cout << fusedObsModels.getEstimatedCovariance() << endl; mrpt::system::pause(); /

                                /
                                                            CPointPDFSOG
                            newObsModel;
                                                            (itBeacs)->generateObservationModelDistribution(
                                                                sensedRange,
                                                                newObsModel,
                                                                beacMap,

The beacon map, for options itObs->sensorLocationOnRobot,// Sensor location on robot centerPositionPrior, centerPositionPriorRadius ); /

Todo:
If there are 2+ sensors on the robot, compute phi?

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 189 of file CMultiMetricMapPDF_RBPF.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), ASSERT_, mrpt::poses::CPose3D::asTPose(), mrpt::poses::CPointPDFSOG::bayesianFusion(), TAuxRangeMeasInfo::beaconID, mrpt::poses::CPointPDFSOG::begin(), mrpt::poses::CPointPDFSOG::clear(), TAuxRangeMeasInfo::cmp_Asc(), mrpt::poses::CPosePDFGaussian::copyFrom(), mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::DEG2RAD(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::poses::CPoseRandomSampler::drawSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::poses::CPointPDFSOG::end(), mrpt::poses::CPointPDFSOG::erase(), mrpt::poses::CPointPDFSOG::ESS(), mrpt::format(), mrpt::poses::CPointPDFSOG::get(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::poses::CPointPDFSOG::getMean(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D(), mrpt::random::getRandomGenerator(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::obs::CSensoryFrame::insertObservationsInto(), INVALID_BEACON_ID, IS_CLASS, mrpt::poses::CPoseRandomSampler::isPrepared(), mrpt::keep_max(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, mrpt::poses::CPointPDFGaussian::mean, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, TAuxRangeMeasInfo::nGaussiansInMap, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor, mrpt::poses::CPointPDFSOG::push_back(), mrpt::poses::CPointPDFSOG::resize(), TAuxRangeMeasInfo::sensedDistance, TAuxRangeMeasInfo::sensorLocationOnRobot, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseRandomSampler::setPosePDF(), mrpt::poses::CPointPDFSOG::size(), mrpt::square(), THROW_EXCEPTION, mrpt::poses::CPointPDFSOG::TGaussianMode::val, val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

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◆ prediction_and_update_pfStandardProposal()

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

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 from mrpt::bayes::CParticleFilterCapable.

Definition at line 967 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ 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 370 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< CRBPFParticleData , 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.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::clearParticles(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, and mrpt::bayes::POINTER.

◆ rebuildAverageMap()

void CMultiMetricMapPDF::rebuildAverageMap ( )
private

Rebuild the "expected" grid map.

Used internally, do not call

Definition at line 287 of file CMultiMetricMapPDF.cpp.

References ASSERT_, mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getXMin(), min, MRPT_END, MRPT_START, mrpt::maps::COccupancyGridMap2D::resizeGrid(), and mrpt::maps::COccupancyGridMap2D::setSize().

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◆ saveCurrentPathEstimationToTextFile()

void CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile ( const std::string fil)

A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).

Definition at line 571 of file CMultiMetricMapPDF.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile().

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◆ serializeFrom() [1/2]

void CMultiMetricMapPDF::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 222 of file CMultiMetricMapPDF.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 CMultiMetricMapPDF::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 206 of file CMultiMetricMapPDF.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 CMultiMetricMapPDF::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 207 of file CMultiMetricMapPDF.cpp.

References mrpt::serialization::CArchive::WriteAs().

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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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◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CMultiMetricMapPDF , mrpt::bayes::CParticleFilterData< CRBPFParticleData >::CParticleList >::setW ( size_t  i,
double  w 
)
inlineoverridevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 47 of file CParticleFilterData.h.

References mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::derived(), and THROW_EXCEPTION_FMT.

◆ updateSensoryFrameSequence()

void CMultiMetricMapPDF::updateSensoryFrameSequence ( )

Update the poses estimation of the member "SFs" according to the current path belief.

Definition at line 546 of file CMultiMetricMapPDF.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap().

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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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◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CRBPFParticleData , 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.

References mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, and mrpt::bayes::POINTER.

◆ 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

◆ mrpt::slam::CMetricMapBuilderRBPF

friend class mrpt::slam::CMetricMapBuilderRBPF
friend

Definition at line 67 of file CMultiMetricMapPDF.h.

Member Data Documentation

◆ _init_CMultiMetricMapPDF

mrpt::rtti::CLASSINIT mrpt::maps::CMultiMetricMapPDF::_init_CMultiMetricMapPDF
staticprotected

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ averageMap

mrpt::maps::CMultiMetricMap mrpt::maps::CMultiMetricMapPDF::averageMap
private

Internal buffer for the averaged map.

Definition at line 96 of file CMultiMetricMapPDF.h.

◆ averageMapIsUpdated

bool mrpt::maps::CMultiMetricMapPDF::averageMapIsUpdated {false}
private

Definition at line 97 of file CMultiMetricMapPDF.h.

◆ className

constexpr const char* mrpt::maps::CMultiMetricMapPDF::className = "CMultiMetricMapPDF"
static

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ 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 239 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 242 of file system/COutputLogger.h.

◆ m_accumRobotMovement2D

Definition at line 46 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_accumRobotMovement2DIsValid
protectedinherited

Definition at line 47 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

Definition at line 48 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

bool mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_accumRobotMovement3DIsValid
protectedinherited

Definition at line 49 of file PF_implementations_data.h.

◆ 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_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 252 of file system/COutputLogger.h.

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

◆ m_movementDrawer

Used in al PF implementations.

See also
PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 53 of file PF_implementations_data.h.

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< CRBPFParticleData , 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::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 55 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 62 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikelihood
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 59 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

std::vector<bool> mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
protectedinherited

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< CRBPFParticleData , CMultiMetricMapPDF , STORAGE >::m_pfAuxiliaryPFStandard_estimatedProb
mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 57 of file PF_implementations_data.h.

◆ newInfoIndex

float mrpt::maps::CMultiMetricMapPDF::newInfoIndex {0}
private

An index [0,1] measuring how much information an observation aports to the map (Typ.

threshold=0.07)

Definition at line 240 of file CMultiMetricMapPDF.h.

◆ options

mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::maps::CMultiMetricMapPDF::options

◆ PARTICLE_STORAGE

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

Definition at line 192 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CMultiMetricMapPDF::runtimeClassId
staticprotected

Definition at line 69 of file CMultiMetricMapPDF.h.

◆ SF2robotPath

std::vector<uint32_t> mrpt::maps::CMultiMetricMapPDF::SF2robotPath
private

A mapping between indexes in the SFs to indexes in the robot paths from particles.

Definition at line 103 of file CMultiMetricMapPDF.h.

◆ SFs




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