MRPT  1.9.9
mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE > Class Template Referenceabstract

Detailed Description

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
class mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >

A set of common data shared by PF implementations for both SLAM and localization.

Definition at line 37 of file PF_implementations_data.h.

#include <mrpt/slam/PF_implementations_data.h>

Inheritance diagram for mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >:

Public Member Functions

 PF_implementation ()
 
template<class BINTYPE >
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.
virtual mrpt::math::TPose3D getLastPose (const size_t i, bool &is_valid_pose) const =0
 Return the last robot pose in the i'th particle; is_valid_pose will be false if there is no such last pose. More...
 
virtual void PF_SLAM_implementation_custom_update_particle_with_new_pose (PARTICLE_TYPE *particleData, const mrpt::math::TPose3D &newPose) const =0
 
virtual void PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE, 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< PARTICLE_TYPE, STORAGE >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const
 
virtual bool PF_SLAM_implementation_skipRobotMovement () const
 Make a specialization if needed, eg. More...
 
virtual 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 =0
 Evaluate the observation likelihood for one particle at a given location. 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...
 

Protected Member Functions

The generic PF implementations for localization & SLAM.
template<class BINTYPE >
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...
 
template<class BINTYPE >
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...
 
template<class BINTYPE >
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

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

Private Member Functions

template<class BINTYPE >
void PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, const TKLDParams &KLD_options, const bool USE_OPTIMAL_SAMPLING)
 The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING. More...
 
template<class BINTYPE >
void PF_SLAM_aux_perform_one_rejection_sampling_step (const bool USE_OPTIMAL_SAMPLING, const bool doResample, const double maxMeanLik, size_t k, const mrpt::obs::CSensoryFrame *sf, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &PF_options, mrpt::poses::CPose3D &out_newPose, double &out_newParticleLogWeight)
 

Data members and methods used by generic PF implementations

mrpt::obs::CActionRobotMovement2D m_accumRobotMovement2D
 
bool m_accumRobotMovement2DIsValid {false}
 
mrpt::poses::CPose3DPDFGaussian m_accumRobotMovement3D
 
bool m_accumRobotMovement3DIsValid {false}
 
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
 
template<class BINTYPE >
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...
 
template<class BINTYPE >
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)
 

Logging methods

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)
 
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...
 

Constructor & Destructor Documentation

◆ PF_implementation()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_implementation ( )
inline

Definition at line 40 of file PF_implementations_data.h.

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

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

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getLastPose()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
virtual mrpt::math::TPose3D mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::getLastPose ( const size_t  i,
bool &  is_valid_pose 
) const
pure virtual

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

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

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ PF_SLAM_aux_perform_one_rejection_sampling_step()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_aux_perform_one_rejection_sampling_step ( const bool  USE_OPTIMAL_SAMPLING,
const bool  doResample,
const double  maxMeanLik,
size_t  k,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
mrpt::poses::CPose3D out_newPose,
double &  out_newParticleLogWeight 
)
private

Definition at line 1026 of file PF_implementations.h.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
virtual double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::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
pure virtual

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

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

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
virtual void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_custom_update_particle_with_new_pose ( PARTICLE_TYPE *  particleData,
const mrpt::math::TPose3D newPose 
) const
pure virtual

Implemented in mrpt::slam::CMonteCarloLocalization2D.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_replaceByNewParticleSet().

Here is the caller graph for this function:

◆ PF_SLAM_implementation_doWeHaveValidObservations()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
virtual bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_doWeHaveValidObservations ( const typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE, STORAGE >::CParticleList &  particles,
const mrpt::obs::CSensoryFrame sf 
) const
inlinevirtual

Definition at line 260 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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 
)
protected

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 155 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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 
)
protected

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 404 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal ( const mrpt::obs::CActionCollection actions,
const mrpt::obs::CSensoryFrame sf,
const mrpt::bayes::CParticleFilter::TParticleFilterOptions PF_options,
const TKLDParams KLD_options,
const bool  USE_OPTIMAL_SAMPLING 
)
private

The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING.

Definition at line 607 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfStandardProposal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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 
)
protected

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 179 of file PF_implementations.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
virtual void mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_replaceByNewParticleSet ( typename mrpt::bayes::CParticleFilterData< PARTICLE_TYPE, STORAGE >::CParticleList &  old_particles,
const std::vector< mrpt::math::TPose3D > &  newParticles,
const std::vector< double > &  newParticlesWeight,
const std::vector< size_t > &  newParticlesDerivedFromIdx 
) const
inlinevirtual

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()

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
virtual bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::PF_SLAM_implementation_skipRobotMovement ( ) const
inlinevirtual

Make a specialization if needed, eg.

in the first step in SLAM.

Reimplemented in mrpt::maps::CMultiMetricMapPDF.

Definition at line 271 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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 
)
staticprotected

Definition at line 424 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

template<class PARTICLE_TYPE , class MYSELF , mrpt::bayes::particle_storage_mode STORAGE>
template<class BINTYPE >
double mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, 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 
)
staticprotected

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 504 of file PF_implementations.h.

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

Member Data Documentation

◆ logging_enable_console_output

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

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

Definition at line 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

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement2D
protected

Definition at line 46 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement2DIsValid {false}
protected

Definition at line 47 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement3D
protected

Definition at line 48 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_accumRobotMovement3DIsValid {false}
protected

Definition at line 49 of file PF_implementations_data.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

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_movementDrawer
protected

Used in al PF implementations.

See also
PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 53 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_estimatedProb
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 55 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 62 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_maxLikelihood
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 59 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
std::vector<bool> mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed
protected

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

template<class PARTICLE_TYPE, class MYSELF, mrpt::bayes::particle_storage_mode STORAGE>
mrpt::math::CVectorDouble mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::m_pfAuxiliaryPFStandard_estimatedProb
mutableprotected

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 57 of file PF_implementations_data.h.




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 449735050 Mon Aug 19 09:11:33 2019 +0200 at lun ago 19 09:20:11 CEST 2019