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 33 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	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 *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

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 cube. 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
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const override
	Returns an estimate of the pose covariance matrix (3x3 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 mxArray *	writeToMatlab () 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 (CPose2D &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual void	getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const=0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose2D	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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN >	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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &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 CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

const CPosePDFParticles &	derived () const
	CRTP helper method. More...

CPosePDFParticles &	derived ()
	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...

virtual size_t	particlesCount () const =0
	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...

virtual double	ESS () const =0
	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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

static bool	is_3D ()

static 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 const 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...

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

Static Private Attributes
static const unsigned	PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS

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 mrpt::rtti::CLASSINIT	_init_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::TRuntimeClassId &	GetRuntimeClassIdStatic ()

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

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPosePDFParticles::ConstPtr = std::shared_ptr<const CPosePDFParticles >

Definition at line 43 of file CPosePDFParticles.h.

◆ ConstUniquePtr

using mrpt::poses::CPosePDFParticles::ConstUniquePtr = std::unique_ptr<const CPosePDFParticles >

Definition at line 43 of file CPosePDFParticles.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 212 of file CParticleFilterData.h.

◆ CParticleDataContent

using mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::CParticleDataContent = mrpt::math::TPose2D

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 210 of file CParticleFilterData.h.

◆ CParticleList

using mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::CParticleList = std::deque<CParticleData>

inherited

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

Definition at line 214 of file CParticleFilterData.h.

◆ Ptr

using mrpt::poses::CPosePDFParticles::Ptr = std::shared_ptr< CPosePDFParticles >

A type for the associated smart pointer

Definition at line 43 of file CPosePDFParticles.h.

◆ self_t

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

inherited

Definition at line 36 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

index	This is the index of the particle its probability is being computed.
action	The value of this is the parameter passed to "prepareFastDrawSample"
observation	The 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 62 of file CParticleFilterCapable.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value = CPose2D

inherited

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPosePDFParticles::UniquePtr = std::unique_ptr< CPosePDFParticles >

Definition at line 43 of file CPosePDFParticles.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 97 of file CPosePDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 102 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFParticles()

CPosePDFParticles::CPosePDFParticles ( size_t M = 1 )

Constructor.

Parameters

M	The number of m_particles.

Definition at line 31 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 299 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 336 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 266 of file CPosePDFParticles.cpp.

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

◆ 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 224 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_count The 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.

◆ 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 43 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPosePDFGaussian::cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by inverse().

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPosePDFParticles::Create ( Args &&... args )

inlinestatic

Definition at line 43 of file CPosePDFParticles.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPosePDFParticles::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPosePDFParticles::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 43 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 70 of file CParticleFilterCapable.h.

References MRPT_UNUSED_PARAM.

◆ derived() [1/2]

CPosePDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived

inlineinherited

CRTP helper method.

Definition at line 41 of file CParticleFilterData.h.

◆ derived() [2/2]

const CPosePDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived

inlineinherited

CRTP helper method.

Definition at line 36 of file CParticleFilterData.h.

◆ 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 154 of file CProbabilityDensityFunction.h.

◆ 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 274 of file CPosePDFParticles.cpp.

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

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

◆ drawSingleSample() [2/2]

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

pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ ESS() [1/2]

virtual double mrpt::bayes::CParticleFilterCapable::ESS ( ) const

pure virtualinherited

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.

Implemented in mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >.

◆ ESS() [2/2]

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

inlineoverrideinherited

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.

Definition at line 88 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 347 of file CPosePDFParticles.cpp.

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

◆ fastDrawSample()

size_t CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions & PF_options ) const

inherited

Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm).

This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the Particle Filter tutorial.

NOTES:

You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
You do not need to call "normalizeWeights" before calling this.
See also
prepareFastDrawSample

Definition at line 489 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize, mrpt::random::CRandomGenerator::drawUniform(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::bayes::CParticleFilter::prMultinomial, mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ getAs3DObject() [1/2]

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 127 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

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 116 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getClassName()

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

inlinestaticconstexpr

Definition at line 43 of file CPosePDFParticles.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> 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 103 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

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 80 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & 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 90 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

void CPosePDFParticles::getCovarianceAndMean	(	mrpt::math::CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

override

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 109 of file CPosePDFParticles.cpp.

References mrpt::math::cov(), M_2PI, mean(), mrpt::square(), and mrpt::math::wrapToPi().

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

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		TDATA &	mean_point
	)		const

pure virtualinherited

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

See also: getMean, getInformationMatrix

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		TDATA &	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 56 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

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

inlineinherited

Compute the entropy of the estimated covariance matrix.

See also: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 170 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & 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 126 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( TDATA & 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

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

See also: getCovariance

Definition at line 89 of file CPosePDFParticles.cpp.

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

◆ getMeanVal()

CPose2D 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 69 of file CProbabilityDensityFunction.h.

◆ getMostLikelyParticle() [1/2]

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

Returns the particle with the highest weight.

Definition at line 321 of file CPosePDFParticles.cpp.

◆ getMostLikelyParticle() [2/2]

const CParticleData* mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::getMostLikelyParticle

inlineinherited

Returns the particle with the highest weight.

Definition at line 292 of file CParticleFilterData.h.

◆ getParticlePose()

TPose2D CPosePDFParticles::getParticlePose ( size_t i ) const

Returns the pose of the i'th particle.

Definition at line 261 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()

double mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::getW ( size_t i ) const

inlineoverridevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 42 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 278 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 306 of file CPosePDFParticles.cpp.

References ASSERT_, CLASS_ID, copyFrom(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.

◆ is_3D()

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

inlinestaticinherited

Definition at line 101 of file CPosePDF.h.

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

◆ is_PDF()

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

inlinestaticinherited

Definition at line 106 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

Definition at line 119 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::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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

◆ 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().

◆ log2linearWeights()

void CParticleFilterCapable::log2linearWeights	(	const std::vector< double > &	in_logWeights,
		std::vector< double > &	out_linWeights
	)

staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See also: performResampling

Definition at line 555 of file CParticleFilterCapable.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ 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_w If 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 61 of file CParticleFilterData.h.

◆ operator delete() [1/3]

void mrpt::poses::CPosePDFParticles::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 43 of file CPosePDFParticles.h.

◆ operator delete() [2/3]

void mrpt::poses::CPosePDFParticles::operator delete ( void * ptr )

inlinenoexcept

Definition at line 43 of file CPosePDFParticles.h.

◆ operator delete() [3/3]

void mrpt::poses::CPosePDFParticles::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 43 of file CPosePDFParticles.h.

◆ operator delete[]()

void mrpt::poses::CPosePDFParticles::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 43 of file CPosePDFParticles.h.

◆ operator new() [1/3]

void* mrpt::poses::CPosePDFParticles::operator new ( size_t size )

inline

Definition at line 43 of file CPosePDFParticles.h.

◆ operator new() [2/3]

void* mrpt::poses::CPosePDFParticles::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 43 of file CPosePDFParticles.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPosePDFParticles::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 43 of file CPosePDFParticles.h.

◆ operator new[]()

void* mrpt::poses::CPosePDFParticles::operator new[] ( size_t size )

inline

Definition at line 43 of file CPosePDFParticles.h.

◆ operator+=()

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

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

Definition at line 293 of file CPosePDFParticles.cpp.

◆ particlesCount() [1/2]

virtual size_t mrpt::bayes::CParticleFilterCapable::particlesCount ( ) const

pure virtualinherited

Get the m_particles count.

Implemented in mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >.

◆ particlesCount() [2/2]

size_t mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::particlesCount

inlineoverrideinherited

Get the m_particles count.

Definition at line 56 of file CParticleFilterData.h.

◆ 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_count The 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 115 of file CParticleFilterData.h.

◆ prediction_and_update()

void CParticleFilterCapable::prediction_and_update	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

inherited

Performs the prediction stage of the Particle Filter.

This method simply selects the appropiate protected method according to the particle filter algorithm to run.

See also: prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

Definition at line 277 of file CParticleFilterCapable.cpp.

References mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::bayes::CParticleFilter::pfAuxiliaryPFOptimal, mrpt::bayes::CParticleFilter::pfAuxiliaryPFStandard, mrpt::bayes::CParticleFilter::pfOptimalProposal, mrpt::bayes::CParticleFilter::pfStandardProposal, and THROW_EXCEPTION.

◆ 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::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 355 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 326 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 341 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 mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, CRangeBearingParticleFilter, and mrpt::slam::CMonteCarloLocalization3D.

Definition at line 311 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 371 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().

◆ 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 251 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_poses	The poses (x,y,phi) around which particles will be spread. Must contains at least one pose.
[in]	num_particles_per_pose	Number 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, resetUniformFreeSpace

Definition at line 213 of file CPosePDFParticles.cpp.

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

◆ 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

location	The location to set all the m_particles.
particlesCount	If this is set to 0 the number of m_particles remains unchanged.

See also: resetUniform, resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 181 of file CPosePDFParticles.cpp.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), and mrpt::poses::CPosePDFGrid::getCovarianceAndMean().

◆ 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 cube.

If particlesCount is set to -1 the number of m_particles remains unchanged.

See also: resetDeterministic, resetUniformFreeSpace, resetAroundSetOfPoses

Definition at line 194 of file CPosePDFParticles.cpp.

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

Referenced by run_test_pf_localization().

◆ 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 362 of file CPosePDFParticles.cpp.

References mrpt::format().

◆ 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 247 of file CPosePDFParticles.cpp.

References mrpt::format().

◆ serializeFrom()

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

in	The input binary stream where the object data must read from.
version	The 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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 166 of file CPosePDFParticles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 161 of file CPosePDFParticles.cpp.

◆ serializeTo()

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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 162 of file CPosePDFParticles.cpp.

◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CPosePDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::setW	(	size_t	i,
		double	w
	)

inlineoverridevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 49 of file CParticleFilterData.h.

◆ size()

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

inline

Get the m_particles count (equivalent to "particlesCount")

Definition at line 126 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 230 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 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CPosePDFParticles

mrpt::rtti::CLASSINIT mrpt::poses::CPosePDFParticles::_init_CPosePDFParticles

staticprotected

Definition at line 43 of file CPosePDFParticles.h.

◆ className

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

staticconstexpr

Definition at line 43 of file CPosePDFParticles.h.

◆ m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary

mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 293 of file CParticleFilterCapable.h.

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< mrpt::math::TPose2D , STORAGE >::m_particles

inherited

The array of particles.

Definition at line 218 of file CParticleFilterData.h.

◆ PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS

const unsigned CParticleFilterCapable::PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS

staticprivateinherited

Initial value:

=

20

Definition at line 38 of file CParticleFilterCapable.h.

◆ PARTICLE_STORAGE

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

staticinherited

Definition at line 215 of file CParticleFilterData.h.

◆ runtimeClassId

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

staticprotected

Definition at line 43 of file CPosePDFParticles.h.

◆ state_length

const 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 33 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ CParticleData

◆ CParticleDataContent

◆ CParticleList

◆ Ptr

◆ self_t

◆ TParticleProbabilityEvaluator

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPosePDFParticles()

Member Function Documentation

◆ _GetBaseClass()

◆ append()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clear()

◆ clearParticles()

◆ clone()

◆ computeResampling()

◆ copyFrom()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ defaultEvaluator()

◆ derived() [1/2]

◆ derived() [2/2]

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ ESS() [1/2]

◆ ESS() [2/2]

◆ evaluatePDF_parzen()

◆ fastDrawSample()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getClassName()

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getMostLikelyParticle() [1/2]

◆ getMostLikelyParticle() [2/2]

◆ getParticlePose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getW()

◆ getWeights()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition() [1/2]

◆ jacobiansPoseComposition() [2/2]

◆ log2linearWeights()

◆ normalizeWeights()

◆ operator delete() [1/3]