Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples.

This class also implements particle filtering for robot localization. See the MRPT application "app/pf-localization" for an example of usage.

See also: CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 32 of file CMonteCarloLocalization3D.h.

#include <mrpt/slam/CMonteCarloLocalization3D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization3D:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose3D, STATE_LEN >

using	CParticleDataContent = mrpt::math::TPose3D
	This is the type inside the corresponding CParticleData class. More...

using	CParticleData = CProbabilityParticle< mrpt::math::TPose3D, 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
	CMonteCarloLocalization3D (size_t M=1)
	Constructor. More...

void	prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...

void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...

void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection action, const mrpt::obs::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Update the m_particles, predicting the posterior of robot pose and map after a movement command. More...

void *	operator new (size_t size)

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

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

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

void	operator delete[] (void *ptr) noexcept

void	copyFrom (const CPose3DPDF &o) override
	Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...

void	resetDeterministic (const mrpt::math::TPose3D &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	getMean (CPose3D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More...

virtual void	getMean (CPose3D &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const override
	Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...

virtual void	getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose3D &mean_point) const=0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

mrpt::math::TPose3D	getParticlePose (int 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 (CPose3D &outPart) const override
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...

virtual void	drawSingleSample (CPose3D &outPart) const=0
	Draws a single sample from the distribution. More...

void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
	Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum. More...

void	operator+= (const CPose3D &Ap)
	Appends (pose-composition) a given pose "p" to each particle. More...

void	append (CPose3DPDFParticles &o)
	Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. More...

void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

mrpt::math::TPose3D	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

const CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight. More...

void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	Bayesian fusion. 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...

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose3D	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...

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 CPose3DPDFParticles &	derived () const
	CRTP helper method. More...

CPose3DPDFParticles &	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...

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.
mrpt::math::TPose3D	getLastPose (const size_t i, bool &is_valid_pose) const override
	Return the robot pose for the i'th particle. More...

void	PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const mrpt::math::TPose3D &newPose) const

void	PF_SLAM_implementation_replaceByNewParticleSet (CParticleList &old_particles, const std::vector< mrpt::math::TPose3D > &newParticles, const std::vector< double > &newParticlesWeight, const std::vector< size_t > &newParticlesDerivedFromIdx) const

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

Virtual methods that the PF_implementations assume exist.
virtual void	PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, 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< mrpt::math::TPose3D, STORAGE >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const

virtual bool	PF_SLAM_implementation_skipRobotMovement () const
	Make a specialization if needed, eg. More...

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

static CPose3DPDF *	createFrom2D (const CPosePDF &o)
	This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) More...

static void	jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
	This static method computes the pose composition Jacobians. 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
TMonteCarloLocalizationParams	options
	MCL parameters. More...

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

static mrpt::system::TConsoleColor	logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::string	logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding names. More...

Protected Member Functions
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...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

The generic PF implementations for localization & SLAM.
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...

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...

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...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

The generic PF implementations for localization & SLAM.
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...

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...

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

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

Private Member Functions
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...

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)

std::string	generateStringFromFormat (const char *fmt, va_list argp) const
	Helper method for generating a std::string instance from printf-like arguments. More...

Private Attributes
std::string	m_logger_name

std::deque< TMsg >	m_history

std::deque< output_logger_callback_t >	m_listCallbacks

Static Private Attributes
static const unsigned	PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS

RTTI stuff

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...

using	Ptr = std::shared_ptr< CPose3DPDFParticles >

using	ConstPtr = std::shared_ptr< const CPose3DPDFParticles >

using	UniquePtr = std::unique_ptr< CPose3DPDFParticles >

using	ConstUniquePtr = std::unique_ptr< const CPose3DPDFParticles >

static mrpt::rtti::CLASSINIT	_init_CPose3DPDFParticles

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DPDFParticles"

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)

Data members and methods used by generic PF implementations
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...

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)

mrpt::obs::CActionRobotMovement2D	m_accumRobotMovement2D

bool	m_accumRobotMovement2DIsValid

mrpt::poses::CPose3DPDFGaussian	m_accumRobotMovement3D

bool	m_accumRobotMovement3DIsValid

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::TPose3D >	m_pfAuxiliaryPFOptimal_maxLikDrawnMovement
	Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More...

std::vector< bool >	m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

Logging methods
bool	logging_enable_console_output
	[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
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=NULL) 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)

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPose3DPDFParticles::ConstPtr = std::shared_ptr<const CPose3DPDFParticles >

inherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DPDFParticles::ConstUniquePtr = std::unique_ptr<const CPose3DPDFParticles >

inherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ CParticleData

using mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::CParticleData = CProbabilityParticle<mrpt::math::TPose3D , 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::TPose3D , STORAGE >::CParticleDataContent = mrpt::math::TPose3D

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::TPose3D , 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::CPose3DPDFParticles::Ptr = std::shared_ptr< CPose3DPDFParticles >

inherited

A type for the associated smart pointer

Definition at line 41 of file CPose3DPDFParticles.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3D , 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< CPose3D , STATE_LEN >::type_value = CPose3D

inherited

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPose3DPDFParticles::UniquePtr = std::unique_ptr< CPose3DPDFParticles >

inherited

Definition at line 41 of file CPose3DPDFParticles.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 104 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 109 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CMonteCarloLocalization3D()

CMonteCarloLocalization3D::CMonteCarloLocalization3D ( size_t M = 1 )

Constructor.

Parameters

M	The number of m_particles.

Definition at line 78 of file CMonteCarloLocalization3D.cpp.

References mrpt::system::COutputLogger::setLoggerName().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::_GetBaseClass ( )

staticprotectedinherited

◆ append()

void CPose3DPDFParticles::append ( CPose3DPDFParticles & o )

inherited

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

Definition at line 253 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ bayesianFusion()

void CPose3DPDFParticles::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtualinherited

Bayesian fusion.

Implements mrpt::poses::CPose3DPDF.

Definition at line 286 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFParticles::changeCoordinatesReference ( const CPose3D & newReferenceBase )

overridevirtualinherited

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::CPose3DPDF.

Definition at line 226 of file CPose3DPDFParticles.cpp.

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , 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::CPose3DPDFParticles::clone ( ) const

overridevirtualinherited

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 CPose3DPDFParticles::copyFrom ( const CPose3DPDF & o )

overridevirtualinherited

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 33 of file CPose3DPDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::poses::CPose3DPDFParticles::inverse(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFParticles::Create ( Args &&... args )

inlinestaticinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF & o )

staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)

Warning: It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.

See also: copyFrom

Definition at line 34 of file CPose3DPDF.cpp.

References mrpt::poses::CPose3DPDFSOG::begin(), CLASS_ID, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPose3DPDFParticles::CreateObject ( )

staticinherited

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DPDFParticles::CreateUnique ( Args &&... args )

inlinestaticinherited

Definition at line 41 of file CPose3DPDFParticles.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]

CPose3DPDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 41 of file CParticleFilterData.h.

◆ derived() [2/2]

const CPose3DPDFParticles & mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 36 of file CParticleFilterData.h.

◆ drawManySamples()

void CPose3DPDFParticles::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

overridevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 239 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFParticles::drawSingleSample ( CPose3D & outPart ) const

overrideinherited

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

Definition at line 233 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::poses::CPoseRandomSampler::do_sample_3D().

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( TDATA & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

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

See also: writeToFile

Definition at line 179 of file COutputLogger.cpp.

◆ 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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::ESS ( ) const

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.

◆ 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().

◆ generateStringFromFormat()

std::string COutputLogger::generateStringFromFormat	(	const char *	fmt,
		va_list	argp
	)		const

privateinherited

Helper method for generating a std::string instance from printf-like arguments.

Definition at line 99 of file COutputLogger.cpp.

References mrpt::system::os::vsnprintf().

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 136 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::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()

See also: mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 125 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFParticles::getClassName ( )

inlinestaticconstexprinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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 CPose3DPDFParticles::getCovarianceAndMean	(	mrpt::math::CMatrixDouble66 &	cov,
		CPose3D &	mean_point
	)		const

overrideinherited

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 69 of file CPose3DPDFParticles.cpp.

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

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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< CPose3D , 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.

◆ getLastPose()

TPose3D CMonteCarloLocalization3D::getLastPose	(	const size_t	i,
		bool &	is_valid_pose
	)		const

overridevirtual

Return the robot pose for the i'th particle.

is_valid is always true in this class.

Implements mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >.

Definition at line 84 of file CMonteCarloLocalization3D.cpp.

References mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, and THROW_EXCEPTION.

◆ getLogAsString() [1/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 148 of file COutputLogger.cpp.

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

◆ getLogAsString() [2/2]

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 143 of file COutputLogger.cpp.

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

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

◆ 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 190 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 132 of file COutputLogger.cpp.

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

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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 CPose3DPDFParticles::getMean ( CPose3D & mean_pose ) const

overrideinherited

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

See also: getCovariance

Definition at line 51 of file CPose3DPDFParticles.cpp.

References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::poses::CPoseInterpolatorBase< 3 >::filter(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ getMeanVal()

CPose3D mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ 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().

◆ getMostLikelyParticle() [1/2]

TPose3D CPose3DPDFParticles::getMostLikelyParticle ( ) const

inherited

Returns the particle with the highest weight.

Definition at line 271 of file CPose3DPDFParticles.cpp.

◆ getMostLikelyParticle() [2/2]

const CParticleData* mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::getMostLikelyParticle ( ) const

inlineinherited

Returns the particle with the highest weight.

Definition at line 292 of file CParticleFilterData.h.

◆ getParticlePose()

mrpt::math::TPose3D CPose3DPDFParticles::getParticlePose ( int i ) const

inherited

Returns the pose of the i'th particle.

Definition at line 221 of file CPose3DPDFParticles.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::GetRuntimeClass ( ) const

overridevirtualinherited

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFParticles::GetRuntimeClassIdStatic ( )

staticinherited

◆ getW()

double mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, 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::TPose3D , 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 CPose3DPDFParticles::inverse ( CPose3DPDF & o ) const

overridevirtualinherited

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 259 of file CPose3DPDFParticles.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )

inlinestaticinherited

Definition at line 108 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )

inlinestaticinherited

Definition at line 113 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ 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().

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)

Definition at line 141 of file CPose3DPDF.cpp.

References mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

◆ 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.

◆ 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 120 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 287 of file COutputLogger.cpp.

References getAddress().

◆ logFmt()

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

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
 
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 80 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 274 of file COutputLogger.cpp.

◆ 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 61 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(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, 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::CPose3DPDFParticles::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexceptinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DPDFParticles::operator delete ( void * ptr )

inlinenoexceptinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DPDFParticles::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexceptinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator delete[]()

void mrpt::poses::CPose3DPDFParticles::operator delete[] ( void * ptr )

inlinenoexceptinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DPDFParticles::operator new ( size_t size )

inlineinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DPDFParticles::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexceptinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPose3DPDFParticles::operator new	(	size_t	size,
		void *	ptr
	)

inlinestaticinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator new[]()

void* mrpt::poses::CPose3DPDFParticles::operator new[] ( size_t size )

inlineinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ operator+=()

void CPose3DPDFParticles::operator+= ( const CPose3D & Ap )

inherited

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

Definition at line 247 of file CPose3DPDFParticles.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ 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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::CParticleList >::particlesCount ( ) const

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< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, 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.

◆ PF_SLAM_aux_perform_one_rejection_sampling_step()

void mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

privateinherited

Definition at line 1021 of file PF_implementations.h.

◆ PF_SLAM_computeObservationLikelihoodForParticle()

double CMonteCarloLocalization3D::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

virtual

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

Implements mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >.

Definition at line 173 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::obs::CSensoryFrame::begin(), mrpt::maps::CMetricMap::computeObservationLikelihood(), mrpt::obs::CSensoryFrame::end(), mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, and options.

◆ PF_SLAM_implementation_custom_update_particle_with_new_pose()

void CMonteCarloLocalization3D::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CParticleDataContent *	particleData,
		const mrpt::math::TPose3D &	newPose
	)		const

virtual

Implements mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >.

Definition at line 198 of file CMonteCarloLocalization3D.cpp.

◆ PF_SLAM_implementation_doWeHaveValidObservations()

virtual bool mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::PF_SLAM_implementation_doWeHaveValidObservations	(	const typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::CParticleList &	particles,
		const mrpt::obs::CSensoryFrame *	sf
	)		const

inlinevirtualinherited

Definition at line 269 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_gatherActionsCheckBothActObs()

bool mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::PF_SLAM_implementation_gatherActionsCheckBothActObs	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf
	)

inherited

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.

On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.

Definition at line 50 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFOptimal()

void mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

protectedinherited

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 158 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandard()

void mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

protectedinherited

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 403 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()

void mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

privateinherited

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

Definition at line 603 of file PF_implementations.h.

◆ PF_SLAM_implementation_pfStandardProposal()

void mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

protectedinherited

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 181 of file PF_implementations.h.

◆ PF_SLAM_implementation_replaceByNewParticleSet() [1/2]

void CMonteCarloLocalization3D::PF_SLAM_implementation_replaceByNewParticleSet	(	CParticleList &	old_particles,
		const std::vector< mrpt::math::TPose3D > &	newParticles,
		const std::vector< double > &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

Definition at line 204 of file CMonteCarloLocalization3D.cpp.

References ASSERT_.

◆ PF_SLAM_implementation_replaceByNewParticleSet() [2/2]

virtual void mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::PF_SLAM_implementation_replaceByNewParticleSet	(	typename mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::CParticleList &	old_particles,
		const std::vector< mrpt::math::TPose3D > &	newParticles,
		const std::vector< double > &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

inlinevirtualinherited

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 185 of file PF_implementations_data.h.

◆ PF_SLAM_implementation_skipRobotMovement()

virtual bool mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::PF_SLAM_implementation_skipRobotMovement

inlinevirtualinherited

Make a specialization if needed, eg.

in the first step in SLAM.

Definition at line 280 of file PF_implementations_data.h.

◆ PF_SLAM_particlesEvaluator_AuxPFOptimal()

double mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

staticprotectedinherited

Definition at line 422 of file PF_implementations.h.

◆ PF_SLAM_particlesEvaluator_AuxPFStandard()

double mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , 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
	)

staticprotectedinherited

Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.

Parameters

action	MUST be a "const CPose3D*"
observation	MUST be a "const CSensoryFrame*"
action	MUST be a "const mrpt::poses::CPose3D*"
observation	MUST be a "const CSensoryFrame*"

Definition at line 501 of file PF_implementations.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 CMonteCarloLocalization3D::prediction_and_update_pfAuxiliaryPFOptimal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

virtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters

Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also: options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 149 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

◆ prediction_and_update_pfAuxiliaryPFStandard()

void CMonteCarloLocalization3D::prediction_and_update_pfAuxiliaryPFStandard	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

virtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters

Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also: options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 123 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, options, and mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandard().

◆ 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 CMonteCarloLocalization3D::prediction_and_update_pfStandardProposal	(	const mrpt::obs::CActionCollection *	action,
		const mrpt::obs::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

virtual

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed CSensoryFrame:

Parameters

action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also: options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

Definition at line 98 of file CMonteCarloLocalization3D.cpp.

References ASSERT_, mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::TMonteCarloLocalizationParams::metricMaps, MRPT_END, MRPT_START, and options.

◆ 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::TPose3D , 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.

◆ resetDeterministic()

void CPose3DPDFParticles::resetDeterministic	(	const mrpt::math::TPose3D &	location,
		size_t	particlesCount = `0`
	)

inherited

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

Definition at line 294 of file CPose3DPDFParticles.cpp.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles(), and mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose().

◆ saveToTextFile()

bool CPose3DPDFParticles::saveToTextFile ( const std::string & file ) const

overridevirtualinherited

Save PDF's m_particles to a text file.

In each line it will go: "x y z"

Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 203 of file CPose3DPDFParticles.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

◆ serializeFrom()

void CPose3DPDFParticles::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtualinherited

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 183 of file CPose3DPDFParticles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CPose3DPDFParticles::serializeGetVersion ( ) const

overrideprotectedvirtualinherited

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 178 of file CPose3DPDFParticles.cpp.

◆ serializeTo()

void CPose3DPDFParticles::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtualinherited

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 179 of file CPose3DPDFParticles.cpp.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 127 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

◆ 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 133 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().

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 138 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().

◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, 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::CPose3DPDFParticles::size ( ) const

inlineinherited

Get the m_particles count (equivalent to "particlesCount")

Definition at line 79 of file CPose3DPDFParticles.h.

References mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D, mrpt::bayes::particle_storage_mode::VALUE >::m_particles.

Referenced by mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = NULL ) 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 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , 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_CPose3DPDFParticles

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DPDFParticles::_init_CPose3DPDFParticles

staticprotectedinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ className

constexpr const char* mrpt::poses::CPose3DPDFParticles::className = "CPose3DPDFParticles"

staticconstexprinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

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

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors

staticinherited

Initial value:

= {
                CONCOL_BLUE,  
                CONCOL_NORMAL,  
                CONCOL_GREEN,  
                CONCOL_RED  
}

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

Implementation file for the COutputLogger header class.

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

Definition at line 124 of file system/COutputLogger.h.

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

◆ logging_levels_to_names

std::string COutputLogger::logging_levels_to_names

staticinherited

Initial value:

=
        {
                "DEBUG",  
                "INFO ",  
                "WARN ",  
                "ERROR"  
}

Map from VerbosityLevels to their corresponding names.

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

Definition at line 129 of file system/COutputLogger.h.

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

◆ m_accumRobotMovement2D

mrpt::obs::CActionRobotMovement2D mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_accumRobotMovement2D

protectedinherited

Definition at line 54 of file PF_implementations_data.h.

◆ m_accumRobotMovement2DIsValid

bool mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_accumRobotMovement2DIsValid

protectedinherited

Definition at line 55 of file PF_implementations_data.h.

◆ m_accumRobotMovement3D

mrpt::poses::CPose3DPDFGaussian mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_accumRobotMovement3D

protectedinherited

Definition at line 56 of file PF_implementations_data.h.

◆ m_accumRobotMovement3DIsValid

bool mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_accumRobotMovement3DIsValid

protectedinherited

Definition at line 57 of file PF_implementations_data.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_history

std::deque<TMsg> mrpt::system::COutputLogger::m_history

mutableprivateinherited

Definition at line 312 of file system/COutputLogger.h.

◆ m_listCallbacks

std::deque<output_logger_callback_t> mrpt::system::COutputLogger::m_listCallbacks

privateinherited

Definition at line 314 of file system/COutputLogger.h.

◆ m_logger_name

std::string mrpt::system::COutputLogger::m_logger_name

privateinherited

Definition at line 310 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

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

mrpt::poses::CPoseRandomSampler mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_movementDrawer

protectedinherited

Used in al PF implementations.

See also: PF_SLAM_implementation_gatherActionsCheckBothActObs

Definition at line 61 of file PF_implementations_data.h.

◆ m_particles

CParticleList mrpt::bayes::CParticleFilterData< mrpt::math::TPose3D , STORAGE >::m_particles

inherited

The array of particles.

Definition at line 218 of file CParticleFilterData.h.

◆ m_pfAuxiliaryPFOptimal_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_pfAuxiliaryPFOptimal_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 63 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

std::vector<mrpt::math::TPose3D> mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikDrawnMovement

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 70 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikelihood

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikelihood

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.

Definition at line 67 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

std::vector<bool> mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed

protectedinherited

Definition at line 71 of file PF_implementations_data.h.

◆ m_pfAuxiliaryPFStandard_estimatedProb

mrpt::math::CVectorDouble mrpt::slam::PF_implementation< mrpt::math::TPose3D , CMonteCarloLocalization3D , STORAGE >::m_pfAuxiliaryPFStandard_estimatedProb

mutableprotectedinherited

Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.

Definition at line 65 of file PF_implementations_data.h.

◆ options

TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization3D::options

MCL parameters.

Definition at line 40 of file CMonteCarloLocalization3D.h.

Referenced by PF_SLAM_computeObservationLikelihoodForParticle(), prediction_and_update_pfAuxiliaryPFOptimal(), prediction_and_update_pfAuxiliaryPFStandard(), and prediction_and_update_pfStandardProposal().

◆ 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::TPose3D , STORAGE >::PARTICLE_STORAGE

staticinherited

Definition at line 215 of file CParticleFilterData.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFParticles::runtimeClassId

staticprotectedinherited

Definition at line 41 of file CPose3DPDFParticles.h.

◆ state_length

const size_t mrpt::math::CProbabilityDensityFunction< CPose3D , 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

Private Member Functions

Private Attributes

Static Private Attributes

RTTI stuff

Data members and methods used by generic PF implementations

Logging methods

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

◆ CMonteCarloLocalization3D()

Member Function Documentation

◆ _GetBaseClass()

◆ append()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clearParticles()

◆ clone()

◆ computeResampling()

◆ copyFrom()

◆ Create()

◆ createFrom2D()

◆ CreateObject()

◆ CreateUnique()

◆ defaultEvaluator()

◆ derived() [1/2]

◆ derived() [2/2]

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ ESS() [1/2]

◆ ESS() [2/2]

◆ fastDrawSample()

◆ generateStringFromFormat()

◆ 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()

◆ getLastPose()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getMinLoggingLevel()

◆ getMostLikelyParticle() [1/2]

◆ getMostLikelyParticle() [2/2]

◆ getParticlePose()

◆ GetRuntimeClass()