class mrpt::poses::CPosePDFParticles

Overview

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

#include <mrpt/poses/CPosePDFParticles.h>

class CPosePDFParticles:
    public mrpt::poses::CPosePDF,
    public mrpt::bayes::CParticleFilterData,
    public mrpt::bayes::CParticleFilterDataImpl
{
public:
    // typedefs

    typedef std::shared_ptr<const mrpt::poses ::CPosePDFParticles> ConstPtr;
    typedef std::unique_ptr<mrpt::poses ::CPosePDFParticles> UniquePtr;
    typedef std::unique_ptr<const mrpt::poses ::CPosePDFParticles> ConstUniquePtr;

    // fields

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

    // construction

    CPosePDFParticles(size_t M = 1);

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    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);

    void getMean(CPose2D& mean_pose) const;
};

// direct descendants

class CMonteCarloLocalization2D;

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef CProbabilityDensityFunction<TDATA, STATE_LEN> self_t;
    typedef std::shared_ptr<CPosePDF> Ptr;
    typedef std::shared_ptr<const CPosePDF> ConstPtr;

    // structs

    struct TFastDrawAuxVars;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    CProbabilityDensityFunction& operator = (const CProbabilityDensityFunction&);
    CProbabilityDensityFunction& operator = (CProbabilityDensityFunction&&);
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual void printTo(std::ostream& out) const = 0;
    virtual void copyFrom(const CPosePDF& o) = 0;
    virtual void bayesianFusion(const CPosePDF& p1, const CPosePDF& p2, double minMahalanobisDistToDrop = 0) = 0;
    virtual void inverse(CPosePDF& o) const = 0;
    virtual void changeCoordinatesReference(const CPose3D& newReferenceBase) = 0;
    virtual double getW(size_t i) const = 0;
    virtual void setW(size_t i, double w) = 0;
    virtual size_t particlesCount() const = 0;
    virtual void performSubstitution(const std::vector<size_t>& indx) = 0;
    virtual double normalizeWeights(double* out_max_log_w = nullptr) = 0;
    virtual double ESS() const = 0;

Construction

CPosePDFParticles(size_t M = 1)

Constructor.

Parameters:

M	The number of m_particles.