MRPT  1.9.9
mrpt::poses::CPosePDFParticles Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples.

This class is also the base for the implementation of Monte-Carlo Localization (MCL), in mrpt::slam::CMonteCarloLocalization2D.

See the application "app/pf-localization" for an example of usage.

See also
CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 30 of file CPosePDFParticles.h.

#include <mrpt/poses/CPosePDFParticles.h>

Inheritance diagram for mrpt::poses::CPosePDFParticles:

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPose2D
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPose2D, STATE_LEN >
 
using cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
 Covariance matrix type. More...
 
using inf_mat_t = cov_mat_t
 Information matrix type. More...
 
using CParticleDataContent = mrpt::math::TPose2D
 This is the type inside the corresponding CParticleData class. More...
 
using CParticleData = CProbabilityParticle< mrpt::math::TPose2D, STORAGE >
 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

void clear ()
 Free all the memory associated to m_particles, and set the number of parts = 0. More...
 
 CPosePDFParticles (size_t M=1)
 Constructor. More...
 
void copyFrom (const CPosePDF &o) override
 Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...
 
void resetDeterministic (const mrpt::math::TPose2D &location, size_t particlesCount=0)
 Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose. More...
 
void resetUniform (const double x_min, const double x_max, const double y_min, const double y_max, const double phi_min=-M_PI, const double phi_max=M_PI, const int particlesCount=-1)
 Reset the PDF to an uniformly distributed one, inside of the defined 2D area [x_min,x_max]x[y_min,y_max] (in meters) and for orientations [phi_min, phi_max] (in radians). More...
 
void resetAroundSetOfPoses (const std::vector< mrpt::math::TPose2D > &list_poses, const size_t num_particles_per_pose, const double spread_x, const double spread_y, const double spread_phi_rad)
 Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose. More...
 
void getMean (CPose2D &mean_pose) const override
 
std::tuple< cov_mat_t, type_valuegetCovarianceAndMean () const override
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
mrpt::math::TPose2D getParticlePose (size_t i) const
 Returns the pose of the i'th particle. More...
 
bool saveToTextFile (const std::string &file) const override
 Save PDF's m_particles to a text file. More...
 
size_t size () const
 Get the m_particles count (equivalent to "particlesCount") More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) override
 this = p (+) this. More...
 
void drawSingleSample (CPose2D &outPart) const override
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...
 
void operator+= (const mrpt::math::TPose2D &Ap)
 Appends (pose-composition) a given pose "p" to each particle. More...
 
void append (CPosePDFParticles &o)
 Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. More...
 
void inverse (CPosePDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
mrpt::math::TPose2D getMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
 Bayesian fusion. More...
 
double evaluatePDF_parzen (const double x, const double y, const double phi, const double stdXY, const double stdPhi) const
 Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window. More...
 
void saveParzenPDFToTextFile (const char *fileName, const double x_min, const double x_max, const double y_min, const double y_max, const double phi, const double stepSizeXY, const double stdXY, const double stdPhi) const
 Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window. More...
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...
 
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. 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...
 
virtual void getMean (type_value &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual void getCovarianceAndMean (cov_mat_t &c, CPose2D &mean) const final
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
type_value getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
void getCovariance (mrpt::math::CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
void getCovariance (cov_mat_t &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
cov_mat_t getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
virtual bool isInfType () const
 Returns whether the class instance holds the uncertainty in covariance or information form. More...
 
virtual void getInformationMatrix (inf_mat_t &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...
 
virtual void drawSingleSample (CPose2D &outPart) const=0
 Draws a single sample from the distribution. More...
 
virtual void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
 Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. 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 CPosePDFParticlesderived () const
 CRTP helper method. More...
 
CPosePDFParticlesderived ()
 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...
 
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 void jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
 This static method computes the pose composition Jacobians, with these formulas: More...
 
static void jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)
 
static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 
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

CParticleList m_particles
 The array of particles. More...
 

Static Public Attributes

static constexpr size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...
 
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...
 
virtual void prediction_and_update_pfOptimalProposal (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 "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
virtual void prediction_and_update_pfAuxiliaryPFOptimal (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 "pfAuxiliaryPFOptimal" (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...
 

Protected Attributes

TFastDrawAuxVars m_fastDrawAuxiliary
 Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPosePDFParticles >
 
using ConstPtr = std::shared_ptr< const CPosePDFParticles >
 
using UniquePtr = std::unique_ptr< CPosePDFParticles >
 
using ConstUniquePtr = std::unique_ptr< const CPosePDFParticles >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPosePDFParticles"
 
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

◆ ConstUniquePtr

Definition at line 40 of file CPosePDFParticles.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>
inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ CParticleData

using mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::CParticleData = CProbabilityParticle<mrpt::math::TPose2D , STORAGE>
inherited

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

Definition at line 189 of file CParticleFilterData.h.

◆ CParticleDataContent

This is the type inside the corresponding CParticleData class.

Definition at line 187 of file CParticleFilterData.h.

◆ CParticleList

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

Definition at line 191 of file CParticleFilterData.h.

◆ inf_mat_t

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 40 of file CPosePDFParticles.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose2D , STATE_LEN>
inherited

Definition at line 35 of file CProbabilityDensityFunction.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.

◆ type_value

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 40 of file CPosePDFParticles.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 94 of file CPosePDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 99 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFParticles()

CPosePDFParticles::CPosePDFParticles ( size_t  M = 1)

Constructor.

Parameters
MThe number of m_particles.

Definition at line 32 of file CPosePDFParticles.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPosePDFParticles::_GetBaseClass ( )
staticprotected

◆ append()

void CPosePDFParticles::append ( CPosePDFParticles o)

Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.

Definition at line 309 of file CPosePDFParticles.cpp.

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

◆ bayesianFusion()

void CPosePDFParticles::bayesianFusion ( const CPosePDF p1,
const CPosePDF p2,
const double  minMahalanobisDistToDrop = 0 
)
overridevirtual

Bayesian fusion.

Implements mrpt::poses::CPosePDF.

Definition at line 344 of file CPosePDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPosePDFParticles::changeCoordinatesReference ( const CPose3D newReferenceBase)
overridevirtual

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

Implements mrpt::poses::CPosePDF.

Definition at line 278 of file CPosePDFParticles.cpp.

References mrpt::poses::CPose2D::asTPose().

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◆ clear()

void CPosePDFParticles::clear ( )

Free all the memory associated to m_particles, and set the number of parts = 0.

Definition at line 87 of file CPosePDFParticles.cpp.

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::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.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPosePDFParticles::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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◆ copyFrom()

void CPosePDFParticles::copyFrom ( const CPosePDF o)
overridevirtual

Copy operator, translating if necesary (for example, between m_particles and gaussian representations)

Implements mrpt::poses::CPosePDF.

Definition at line 44 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

Referenced by inverse().

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◆ Create()

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

Definition at line 40 of file CPosePDFParticles.h.

◆ CreateAlloc()

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

Definition at line 40 of file CPosePDFParticles.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPosePDFParticles::CreateObject ( )
static

◆ CreateUnique()

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

Definition at line 40 of file CPosePDFParticles.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]

◆ derived() [2/2]

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Reimplemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.

Definition at line 151 of file CProbabilityDensityFunction.h.

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

◆ drawSingleSample() [1/2]

void CPosePDFParticles::drawSingleSample ( CPose2D outPart) const
override

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 285 of file CPosePDFParticles.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), and mrpt::random::getRandomGenerator().

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_2D().

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ 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 191 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.

◆ evaluatePDF_parzen()

double CPosePDFParticles::evaluatePDF_parzen ( const double  x,
const double  y,
const double  phi,
const double  stdXY,
const double  stdPhi 
) const

Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window.

See also
saveParzenPDFToTextFile

Definition at line 355 of file CPosePDFParticles.cpp.

References mrpt::math::normalPDF(), mrpt::square(), and mrpt::math::wrapToPi().

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◆ 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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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 113 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.

Definition at line 124 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPosePDFParticles::getClassName ( )
inlinestatic

Definition at line 40 of file CPosePDFParticles.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 88 of file CProbabilityDensityFunction.h.

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

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( cov_mat_t cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

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

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 108 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPose2D &  mean 
) const
inlinefinalvirtualinherited

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 54 of file CProbabilityDensityFunction.h.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::mean().

◆ getCovarianceAndMean() [2/2]

std::tuple< CMatrixDouble33, CPose2D > CPosePDFParticles::getCovarianceAndMean ( ) const
overridevirtual

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 108 of file CPosePDFParticles.cpp.

References mrpt::math::cov(), M_2PI, mrpt::math::mean(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::square(), and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGrid::getCovarianceAndMean(), and run_test_pf_localization().

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
type_value mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Definition at line 65 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( inf_mat_t inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 130 of file CProbabilityDensityFunction.h.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), and mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt().

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( type_value mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void CPosePDFParticles::getMean ( CPose2D mean_pose) const
override

Definition at line 88 of file CPosePDFParticles.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

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

◆ getMostLikelyParticle()

mrpt::math::TPose2D CPosePDFParticles::getMostLikelyParticle ( ) const

Returns the particle with the highest weight.

Definition at line 329 of file CPosePDFParticles.cpp.

◆ getParticlePose()

TPose2D CPosePDFParticles::getParticlePose ( size_t  i) const

Returns the pose of the i'th particle.

Definition at line 273 of file CPosePDFParticles.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPosePDFParticles::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPosePDFParticles::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< mrpt::math::TPose2D , STORAGE >::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.

◆ inverse()

void CPosePDFParticles::inverse ( CPosePDF o) const
overridevirtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPosePDF.

Definition at line 315 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, copyFrom(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

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◆ is_3D()

static constexpr bool mrpt::poses::CPosePDF::is_3D ( )
inlinestaticinherited

Definition at line 98 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPosePDF::is_PDF ( )
inlinestaticinherited

Definition at line 103 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See also
mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPosePDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition ( const CPose2D x,
const CPose2D u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du,
const bool  compute_df_dx = true,
const bool  compute_df_du = true 
)
staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]

Definition at line 32 of file CPosePDF.cpp.

References mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().

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◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian x,
const CPosePDFGaussian u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du 
)
staticinherited

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 22 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

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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 552 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::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.

◆ operator+=()

void CPosePDFParticles::operator+= ( const mrpt::math::TPose2D Ap)

Appends (pose-composition) a given pose "p" to each particle.

Definition at line 304 of file CPosePDFParticles.cpp.

◆ 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< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::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()

◆ prediction_and_update_pfAuxiliaryPFOptimal()

void CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal ( 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 "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

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

Definition at line 351 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ 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 CParticleFilterCapable::prediction_and_update_pfOptimalProposal ( 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 "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.

Definition at line 337 of file CParticleFilterCapable.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ 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< mrpt::math::TPose2D , STORAGE >::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.

◆ resetAroundSetOfPoses()

void CPosePDFParticles::resetAroundSetOfPoses ( const std::vector< mrpt::math::TPose2D > &  list_poses,
const size_t  num_particles_per_pose,
const double  spread_x,
const double  spread_y,
const double  spread_phi_rad 
)

Reset the PDF to a multimodal distribution over a set of "spots" (x,y,phi) The total number of particles will be list_poses.size() * num_particles_per_pose.

Parameters
[in]list_posesThe poses (x,y,phi) around which particles will be spread. Must contains at least one pose.
[in]num_particles_per_poseNumber of particles to be spread around each of the "spots" in list_poses. Must be >=1.

Particles will be spread uniformly in a box of width spread_{x,y,phi_rad} in each of the three coordinates (meters, radians), so it can be understood as the "initial uncertainty".

See also
resetDeterministic, CMonteCarloLocalization2D::resetUniformFreeSpace

Definition at line 227 of file CPosePDFParticles.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::containers::clear(), mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, and MRPT_START.

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◆ resetDeterministic()

void CPosePDFParticles::resetDeterministic ( const mrpt::math::TPose2D location,
size_t  particlesCount = 0 
)

Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

Parameters
locationThe location to set all the m_particles.
particlesCountIf this is set to 0 the number of m_particles remains unchanged.
See also
resetUniform, CMonteCarloLocalization2D::resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 197 of file CPosePDFParticles.cpp.

Referenced by mrpt::poses::CPosePDFGrid::getCovarianceAndMean().

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◆ resetUniform()

void CPosePDFParticles::resetUniform ( const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  phi_min = -M_PI,
const double  phi_max = M_PI,
const int  particlesCount = -1 
)

Reset the PDF to an uniformly distributed one, inside of the defined 2D area [x_min,x_max]x[y_min,y_max] (in meters) and for orientations [phi_min, phi_max] (in radians).

Parameters
particlesCountNew particle count, or leave count unchanged if set to -1 (default).
Note
Orientations can be outside of the [-pi,pi] range if so desired, but it must hold phi_max>=phi_min.
See also
resetDeterministic, CMonteCarloLocalization2D::resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 209 of file CPosePDFParticles.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, and MRPT_START.

Referenced by run_test_pf_localization().

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◆ saveParzenPDFToTextFile()

void CPosePDFParticles::saveParzenPDFToTextFile ( const char *  fileName,
const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  phi,
const double  stepSizeXY,
const double  stdXY,
const double  stdPhi 
) const

Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window.

See also
evaluatePDF_parzen

Definition at line 371 of file CPosePDFParticles.cpp.

References mrpt::format().

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◆ saveToTextFile()

bool CPosePDFParticles::saveToTextFile ( const std::string file) const
overridevirtual

Save PDF's m_particles to a text file.

In each line it will go: "x y phi weight"

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 259 of file CPosePDFParticles.cpp.

References mrpt::format().

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◆ serializeFrom() [1/2]

void CPosePDFParticles::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 167 of file CPosePDFParticles.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 CPosePDFParticles::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 162 of file CPosePDFParticles.cpp.

◆ serializeTo() [1/2]

void CPosePDFParticles::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 163 of file CPosePDFParticles.cpp.

◆ serializeTo() [2/2]

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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◆ 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.

◆ size()

size_t mrpt::poses::CPosePDFParticles::size ( ) const
inline

Get the m_particles count (equivalent to "particlesCount")

Definition at line 121 of file CPosePDFParticles.h.

References mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles.

◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::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.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPosePDFParticles::className = "CPosePDFParticles"
static

Definition at line 40 of file CPosePDFParticles.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_particles

◆ PARTICLE_STORAGE

const particle_storage_mode mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::PARTICLE_STORAGE
staticinherited

Definition at line 192 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPosePDFParticles::runtimeClassId
staticprotected

Definition at line 40 of file CPosePDFParticles.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::state_length
staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 32 of file CProbabilityDensityFunction.h.




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