MRPT  1.9.9
mrpt::slam::CMetricMapBuilderRBPF Class Reference

Detailed Description

This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.

This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.

A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.

For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.

Note
Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.
Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.
Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
See also
CMetricMap

Definition at line 55 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF:

Classes

struct  TConstructionOptions
 Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More...
 
struct  TStats
 This structure will hold stats after each execution of processActionObservation. More...
 

Public Member Functions

 CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions)
 Constructor. More...
 
 CMetricMapBuilderRBPF ()
 This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF. More...
 
CMetricMapBuilderRBPFoperator= (const CMetricMapBuilderRBPF &src)
 Copy Operator. More...
 
 ~CMetricMapBuilderRBPF () override
 Destructor. More...
 
void initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr) override
 Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map. More...
 
void clear ()
 Clear all elements of the maps. More...
 
mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation () const override
 Returns a copy of the current best pose estimation as a pose PDF. More...
 
void getCurrentMostLikelyPath (std::deque< mrpt::math::TPose3D > &outPath) const
 Returns the current most-likely path estimation (the path associated to the most likely particle). More...
 
void processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations) override
 Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...
 
void getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const override
 Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
 
const mrpt::maps::CMultiMetricMapgetCurrentlyBuiltMetricMap () const override
 Returns the map built so far. More...
 
unsigned int getCurrentlyBuiltMapSize () override
 Returns just how many sensory-frames are stored in the currently build map. More...
 
void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true) override
 A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
 
void drawCurrentEstimationToImage (mrpt::img::CCanvas *img)
 A useful method for debugging: draws the current map and path hypotheses to a CCanvas. 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...
 
double getCurrentJointEntropy ()
 
void enableMapUpdating (bool enable)
 Enables or disables the map updating (default state is enabled) More...
 
void loadCurrentMapFromFile (const std::string &fileName)
 Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...
 
void saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
 Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...
 

Static Public Member Functions

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

Public Attributes

mrpt::maps::CMultiMetricMapPDF mapPDF
 The map PDF: It includes a path and associated map for each particle. More...
 
TStats m_statsLastIteration
 This structure will hold stats after each execution of processActionObservation. More...
 
TOptions options
 

Protected Member Functions

void enterCriticalSection ()
 Enter critical section for map updating. More...
 
void leaveCriticalSection ()
 Leave critical section for map updating. More...
 

Protected Attributes

bayes::CParticleFilter::TParticleFilterOptions m_PF_options
 The configuration of the particle filter. More...
 
float insertionLinDistance
 Distances (linear and angular) for inserting a new observation into the map. More...
 
float insertionAngDistance
 
float localizeLinDistance
 Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). More...
 
float localizeAngDistance
 
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
 Traveled distance since last localization update. More...
 
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
 Traveled distance since last map update. More...
 
std::mutex critZoneChangingMap
 Critical zones. More...
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Logging methods

bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, 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)
 

Constructor & Destructor Documentation

◆ CMetricMapBuilderRBPF() [1/2]

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( const TConstructionOptions initializationOptions)

Constructor.

Definition at line 31 of file CMetricMapBuilderRBPF.cpp.

References clear(), mrpt::system::COutputLogger::setLoggerName(), mrpt::system::COutputLogger::setVerbosityLevel(), and mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level.

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◆ CMetricMapBuilderRBPF() [2/2]

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF ( )

This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF.

Definition at line 51 of file CMetricMapBuilderRBPF.cpp.

References MRPT_LOG_WARN, and mrpt::system::COutputLogger::setLoggerName().

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◆ ~CMetricMapBuilderRBPF()

CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF ( )
overridedefault

Destructor.

Member Function Documentation

◆ clear()

void CMetricMapBuilderRBPF::clear ( )

Clear all elements of the maps.

Definition at line 83 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mapPDF, MRPT_LOG_DEBUG, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, and mrpt::poses::CPose3D::setFromValues().

Referenced by CMetricMapBuilderRBPF(), and initialize().

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◆ drawCurrentEstimationToImage()

void CMetricMapBuilderRBPF::drawCurrentEstimationToImage ( mrpt::img::CCanvas img)

A useful method for debugging: draws the current map and path hypotheses to a CCanvas.

Definition at line 370 of file CMetricMapBuilderRBPF.cpp.

References ASSERT_, mrpt::img::CH_GRAY, mrpt::img::CImage::drawImage(), mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), mrpt::img::CImage::getHeight(), mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mapPDF, MRPT_END, MRPT_START, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount(), mrpt::img::CImage::resize(), and mrpt::round().

Referenced by saveCurrentEstimationToImage().

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◆ 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.

◆ enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool  enable)
inlineinherited

Enables or disables the map updating (default state is enabled)

Definition at line 104 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, and mrpt::slam::CMetricMapBuilder::options.

◆ enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )
inlineprotectedinherited

Enter critical section for map updating.

Definition at line 38 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ getCurrentJointEntropy()

double CMetricMapBuilderRBPF::getCurrentJointEntropy ( )

Definition at line 492 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy(), and mapPDF.

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◆ getCurrentlyBuiltMap()

void CMetricMapBuilderRBPF::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap out_map) const
overridevirtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 350 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CMultiMetricMapPDF::updateSensoryFrameSequence().

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◆ getCurrentlyBuiltMapSize()

unsigned int CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize ( )
overridevirtual

Returns just how many sensory-frames are stored in the currently build map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 365 of file CMetricMapBuilderRBPF.cpp.

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

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◆ getCurrentlyBuiltMetricMap()

const CMultiMetricMap * CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap ( ) const
overridevirtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "clone()".

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 357 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), and mapPDF.

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◆ getCurrentMostLikelyPath()

void CMetricMapBuilderRBPF::getCurrentMostLikelyPath ( std::deque< mrpt::math::TPose3D > &  outPath) const

Returns the current most-likely path estimation (the path associated to the most likely particle).

Definition at line 329 of file CMetricMapBuilderRBPF.cpp.

References mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mapPDF, and mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount().

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◆ getCurrentPoseEstimation()

CPose3DPDF::Ptr CMetricMapBuilderRBPF::getCurrentPoseEstimation ( ) const
overridevirtual

Returns a copy of the current best pose estimation as a pose PDF.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 311 of file CMetricMapBuilderRBPF.cpp.

References mrpt::poses::CPose3D::asTPose(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, and odoIncrementSinceLastLocalization.

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◆ getLogAsString() [1/2]

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

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

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

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

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [1/2]

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

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [2/2]

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

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

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

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

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

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

Definition at line 200 of file system/COutputLogger.h.

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

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

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◆ initialize()

void CMetricMapBuilderRBPF::initialize ( const mrpt::maps::CSimpleMap initialMap = mrpt::maps::CSimpleMap(),
const mrpt::poses::CPosePDF x0 = nullptr 
)
overridevirtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map.

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 280 of file CMetricMapBuilderRBPF.cpp.

References clear(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::maps::CSimpleMap::empty(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mapPDF, MRPT_LOG_INFO_STREAM, mrpt::maps::CSimpleMap::rbegin(), and mrpt::maps::CSimpleMap::size().

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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 processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )
inlineprotectedinherited

Leave critical section for map updating.

Definition at line 40 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ loadCurrentMapFromFile()

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string fileName)
inherited

Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.

Definition at line 56 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), mrpt::slam::CMetricMapBuilder::initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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◆ logCond()

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

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

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

Definition at line 291 of file COutputLogger.cpp.

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

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◆ logFmt()

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

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

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

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

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

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

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

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◆ logging_levels_to_names()

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

Map from VerbosityLevels to their corresponding names.

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

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

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

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

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

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
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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◆ operator=()

◆ processActionObservation()

void CMetricMapBuilderRBPF::processActionObservation ( mrpt::obs::CActionCollection action,
mrpt::obs::CSensoryFrame observations 
)
overridevirtual

Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters
actionThe incremental 2D pose change in the robot pose. This value is deterministic.
observationsThe set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 103 of file CMetricMapBuilderRBPF.cpp.

References mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, ASSERT_, mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::cov(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::rtti::CListOfClasses::data, mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::obs::CActionRobotMovement3D::estimationMethod, mrpt::bayes::CParticleFilter::executeOn(), mrpt::format(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::obs::CActionCollection::insert(), insertionAngDistance, insertionLinDistance, mrpt::maps::CMultiMetricMapPDF::insertObservation(), mrpt::system::COutputLogger::isLoggingLevelVisible(), localizeAngDistance, localizeLinDistance, mrpt::system::LVL_INFO, mrpt::bayes::CParticleFilter::m_options, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, m_PF_options, m_statsLastIteration, mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::norm(), mrpt::slam::CMetricMapBuilderRBPF::TStats::observationsInserted, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, mrpt::slam::CMetricMapBuilder::options, mrpt::obs::CActionRobotMovement3D::poseChange, mrpt::RAD2DEG(), mrpt::poses::CPose3D::setFromValues(), mrpt::system::COutputLogger::setVerbosityLevel(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::maps::CMultiMetricMapPDF::SFs, mrpt::maps::CSimpleMap::size(), mrpt::obs::CAction::timestamp, and mrpt::poses::CPose3D::yaw().

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◆ saveCurrentEstimationToImage()

void CMetricMapBuilderRBPF::saveCurrentEstimationToImage ( const std::string file,
bool  formatEMF_BMP = true 
)
overridevirtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters
fileThe output file name
formatEMF_BMPOutput format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 467 of file CMetricMapBuilderRBPF.cpp.

References mrpt::img::CH_GRAY, drawCurrentEstimationToImage(), MRPT_END, and MRPT_START.

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◆ saveCurrentMapToFile()

void CMetricMapBuilder::saveCurrentMapToFile ( const std::string fileName,
bool  compressGZ = true 
) const
inherited

Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.

Definition at line 88 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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◆ saveCurrentPathEstimationToTextFile()

void CMetricMapBuilderRBPF::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 500 of file CMetricMapBuilderRBPF.cpp.

References mapPDF, and mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile().

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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(), 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(), CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

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◆ writeLogToFile()

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

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

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

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ critZoneChangingMap

◆ insertionAngDistance

◆ insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance
protected

◆ localizeAngDistance

◆ localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance
protected

Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).

Definition at line 71 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().

◆ 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_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_PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::m_PF_options
protected

The configuration of the particle filter.

Definition at line 63 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

◆ m_statsLastIteration

TStats mrpt::slam::CMetricMapBuilderRBPF::m_statsLastIteration

This structure will hold stats after each execution of processActionObservation.

Definition at line 203 of file CMetricMapBuilderRBPF.h.

Referenced by operator=(), and processActionObservation().

◆ mapPDF

◆ odoIncrementSinceLastLocalization

mrpt::poses::CPose3DPDFGaussian mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastLocalization
protected

Traveled distance since last localization update.

Definition at line 74 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), getCurrentPoseEstimation(), operator=(), and processActionObservation().

◆ odoIncrementSinceLastMapUpdate

mrpt::poses::CPose3D mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLastMapUpdate
protected

Traveled distance since last map update.

Definition at line 76 of file CMetricMapBuilderRBPF.h.

Referenced by clear(), operator=(), and processActionObservation().

◆ options




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