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mrpt::poses::CPose3DPDFParticles Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose.

This class is also the base for the implementation of Monte-Carlo Localization (MCL), in mrpt::slam::CMonteCarloLocalization2D.

See the application "app/pf-localization" for an example of usage.

See also
CPose3D, CPose3DPDF, CPoseGaussianPDF

Definition at line 33 of file CPose3DPDFParticles.h.

#include <mrpt/poses/CPose3DPDFParticles.h>

Inheritance diagram for mrpt::poses::CPose3DPDFParticles:
Inheritance graph

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3D type_value
 The type of the state the PDF represents. More...
 
typedef CPose3D CParticleDataContent
 This is the type inside the corresponding CParticleData class. More...
 
typedef CProbabilityParticle< CPose3DCParticleData
 Use this to refer to each element in the m_particles array. More...
 
typedef std::deque< CParticleDataCParticleList
 Use this type to refer to the list of particles m_particles. More...
 
typedef double(* TParticleProbabilityEvaluator) (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

 CPose3DPDFParticles (size_t M=1)
 Constructor. More...
 
 CPose3DPDFParticles (const CPose3DPDFParticles &obj)
 Copy constructor. More...
 
virtual ~CPose3DPDFParticles ()
 Destructor. More...
 
void copyFrom (const CPose3DPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between m_particles and gaussian representations) More...
 
void resetDeterministic (const CPose3D &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 MRPT_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...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...
 
CPose3D getParticlePose (int i) const
 Returns the pose of the i'th particle. More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save PDF's m_particles to a text file. In each line it will go: "x y z". More...
 
size_t size () const
 Get the m_particles count (equivalent to "particlesCount") More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void drawSingleSample (CPose3D &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_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 MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3D getMostLikelyParticle () const
 Returns the particle with the highest weight. More...
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_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 void getMean (CPose3D &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual void getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, 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...
 
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 void getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...
 
virtual void drawSingleSample (CPose3D &outPart) const=0
 Draws a single sample from the distribution. 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 CPose3DPDFParticlesderived () const
 CRTP helper method. More...
 
CPose3DPDFParticlesderived ()
 CRTP helper method. More...
 
double getW (size_t i) const MRPT_OVERRIDE
 Access to i'th particle (logarithm) weight, where first one is index 0. More...
 
void setW (size_t i, double w) MRPT_OVERRIDE
 Modifies i'th particle (logarithm) weight, where first one is index 0. More...
 
size_t particlesCount () const MRPT_OVERRIDE
 Get the m_particles count. More...
 
double normalizeWeights (double *out_max_log_w=NULL) MRPT_OVERRIDE
 Normalize the (logarithmic) weights, such as the maximum weight is zero. More...
 
double ESS () const MRPT_OVERRIDE
 Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More...
 
void performSubstitution (const std::vector< size_t > &indx) MRPT_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=NULL, const void *observation=NULL) const
 Prepares data structures for calling fastDrawSample method next. More...
 
size_t fastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const
 Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). More...
 
void prediction_and_update (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the prediction stage of the Particle Filter. More...
 
void performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, size_t out_particle_count=0)
 Performs a resample of the m_particles, using the method selected in the constructor. More...
 

Static Public Member Functions

static CPose3DPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF. 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

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...
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCPose3DPDF
 

Protected Member Functions

virtual void prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
virtual void prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
virtual void prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
virtual void prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Protected Attributes

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

Static Private Attributes

static const unsigned PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS
 

RTTI stuff <br>

typedef CPose3DPDFParticlesPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFParticles
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFParticles
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DPDFParticlesPtr Create ()
 

Member Typedef Documentation

◆ CParticleData

typedef CProbabilityParticle<CPose3D > mrpt::bayes::CParticleFilterData< CPose3D >::CParticleData
inherited

Use this to refer to each element in the m_particles array.

Definition at line 181 of file CParticleFilterData.h.

◆ CParticleDataContent

typedef CPose3D mrpt::bayes::CParticleFilterData< CPose3D >::CParticleDataContent
inherited

This is the type inside the corresponding CParticleData class.

Definition at line 180 of file CParticleFilterData.h.

◆ CParticleList

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList
inherited

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

Definition at line 182 of file CParticleFilterData.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 39 of file CPose3DPDFParticles.h.

◆ TParticleProbabilityEvaluator

typedef double(* mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator) (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
indexThis is the index of the particle its probability is being computed.
actionThe value of this is the parameter passed to "prepareFastDrawSample"
observationThe 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 54 of file CParticleFilterCapable.h.

◆ type_value

typedef CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value
inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 91 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFParticles() [1/2]

mrpt::poses::CPose3DPDFParticles::CPose3DPDFParticles ( size_t  M = 1)

Constructor.

Parameters
MThe number of m_particles.

◆ CPose3DPDFParticles() [2/2]

mrpt::poses::CPose3DPDFParticles::CPose3DPDFParticles ( const CPose3DPDFParticles obj)
inline

Copy constructor.

Definition at line 48 of file CPose3DPDFParticles.h.

◆ ~CPose3DPDFParticles()

virtual mrpt::poses::CPose3DPDFParticles::~CPose3DPDFParticles ( )
virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DPDFParticles::_GetBaseClass ( )
staticprotected

◆ append()

void mrpt::poses::CPose3DPDFParticles::append ( CPose3DPDFParticles o)

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

◆ bayesianFusion()

void mrpt::poses::CPose3DPDFParticles::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
virtual

Bayesian fusion.

Implements mrpt::poses::CPose3DPDF.

◆ changeCoordinatesReference()

void mrpt::poses::CPose3DPDFParticles::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtual

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::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ clearParticles()

void mrpt::bayes::CParticleFilterData< CPose3D >::clearParticles ( )
inlineinherited

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 192 of file CParticleFilterData.h.

◆ computeResampling()

static void mrpt::bayes::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_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See also
performResampling

◆ copyFrom()

void mrpt::poses::CPose3DPDFParticles::copyFrom ( const CPose3DPDF o)
virtual

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

Implements mrpt::poses::CPose3DPDF.

◆ Create()

static CPose3DPDFParticlesPtr mrpt::poses::CPose3DPDFParticles::Create ( )
static

◆ createFrom2D()

static CPose3DPDF * mrpt::poses::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) 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

◆ CreateObject()

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

◆ 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 65 of file CParticleFilterCapable.h.

References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.

◆ derived() [1/2]

CRTP helper method.

Definition at line 36 of file CParticleFilterData.h.

◆ derived() [2/2]

CRTP helper method.

Definition at line 34 of file CParticleFilterData.h.

◆ drawManySamples()

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

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::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ drawSingleSample() [1/2]

void mrpt::poses::CPose3DPDFParticles::drawSingleSample ( CPose3D outPart) const

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

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::poses::CPose3DPDFParticles::duplicate ( ) const
virtual

◆ ESS()

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.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 78 of file CParticleFilterData.h.

◆ fastDrawSample()

size_t mrpt::bayes::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

◆ 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::CSetOfObjectsPtr as template argument.

Definition at line 109 of file CPose3DPDF.h.

◆ 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::CSetOfObjectsPtr as template argument.

Definition at line 100 of file CPose3DPDF.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > mrpt::utils::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 85 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::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 67 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

void mrpt::utils::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 76 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

void mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const

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

See also
getMean

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3D &  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::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose3D &  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 47 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::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 136 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::utils::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 98 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( CPose3D &  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 mrpt::poses::CPose3DPDFParticles::getMean ( CPose3D mean_pose) const

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

◆ getMeanVal()

CPose3D mrpt::utils::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 57 of file CProbabilityDensityFunction.h.

◆ getMostLikelyParticle()

CPose3D mrpt::poses::CPose3DPDFParticles::getMostLikelyParticle ( ) const

Returns the particle with the highest weight.

◆ getParticlePose()

CPose3D mrpt::poses::CPose3DPDFParticles::getParticlePose ( int  i) const

Returns the pose of the i'th particle.

◆ GetRuntimeClass()

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

Reimplemented from mrpt::poses::CPose3DPDF.

◆ getW()

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 38 of file CParticleFilterData.h.

◆ getWeights()

void mrpt::bayes::CParticleFilterData< CPose3D >::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 246 of file CParticleFilterData.h.

◆ inverse()

void mrpt::poses::CPose3DPDFParticles::inverse ( CPose3DPDF o) const
virtual

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

Implements mrpt::poses::CPose3DPDF.

◆ is_3D()

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

Definition at line 92 of file CPose3DPDF.h.

◆ is_PDF()

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

Definition at line 94 of file CPose3DPDF.h.

◆ jacobiansPoseComposition()

static void mrpt::poses::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)

Referenced by mrpt::math::jacobians::jacobs_6D_pose_comp().

◆ log2linearWeights()

static void mrpt::bayes::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

◆ normalizeWeights()

double mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList >::normalizeWeights ( double *  out_max_log_w = NULL)
inlinevirtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters
out_max_log_wIf 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 55 of file CParticleFilterData.h.

◆ operator+=()

void mrpt::poses::CPose3DPDFParticles::operator+= ( const CPose3D Ap)

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

◆ particlesCount()

Get the m_particles count.

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 50 of file CParticleFilterData.h.

◆ performResampling()

void mrpt::bayes::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_countThe desired number of output particles after resampling; 0 means don't modify the current number.
See also
resample

◆ performSubstitution()

void mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList >::performSubstitution ( const std::vector< size_t > &  indx)
inlinevirtualinherited

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 98 of file CParticleFilterData.h.

◆ prediction_and_update()

void mrpt::bayes::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

◆ prediction_and_update_pfAuxiliaryPFOptimal()

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::CMultiMetricMapPDF, mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ prediction_and_update_pfAuxiliaryPFStandard()

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

◆ prediction_and_update_pfOptimalProposal()

virtual void mrpt::bayes::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.

◆ prediction_and_update_pfStandardProposal()

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfStandardProposal ( const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See also
prediction_and_update

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

◆ prepareFastDrawSample()

void mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
TParticleProbabilityEvaluator  partEvaluator = defaultEvaluator,
const void *  action = NULL,
const void *  observation = NULL 
) 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

◆ readFromStream()

void mrpt::poses::CPose3DPDFParticles::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ readParticlesFromStream()

void mrpt::bayes::CParticleFilterData< CPose3D >::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 226 of file CParticleFilterData.h.

◆ resetDeterministic()

void mrpt::poses::CPose3DPDFParticles::resetDeterministic ( const CPose3D location,
size_t  particlesCount = 0 
)

Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

Parameters
locationThe location to set all the m_particles.
particlesCountIf this is set to 0 the number of m_particles remains unchanged.
See also
resetUniform, resetUniformFreeSpace

◆ saveToTextFile()

void mrpt::poses::CPose3DPDFParticles::saveToTextFile ( const std::string &  file) const
virtual

Save PDF's m_particles to a text file. In each line it will go: "x y z".

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

◆ setW()

void mrpt::bayes::CParticleFilterDataImpl< CPose3DPDFParticles , mrpt::bayes::CParticleFilterData< CPose3D >::CParticleList >::setW ( size_t  i,
double  w 
)
inlinevirtualinherited

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

Implements mrpt::bayes::CParticleFilterCapable.

Definition at line 44 of file CParticleFilterData.h.

◆ size()

size_t mrpt::poses::CPose3DPDFParticles::size ( ) const
inline

Get the m_particles count (equivalent to "particlesCount")

Definition at line 72 of file CPose3DPDFParticles.h.

◆ writeParticlesToStream()

void mrpt::bayes::CParticleFilterData< CPose3D >::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 211 of file CParticleFilterData.h.

◆ writeToStream()

void mrpt::poses::CPose3DPDFParticles::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CPose3DPDFParticles

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFParticles::_init_CPose3DPDFParticles
staticprotected

Definition at line 39 of file CPose3DPDFParticles.h.

◆ classCPose3DPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF
staticinherited

Definition at line 42 of file CPose3DPDF.h.

◆ classCPose3DPDFParticles

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFParticles::classCPose3DPDFParticles
static

Definition at line 39 of file CPose3DPDFParticles.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFParticles::classinfo
static

Definition at line 39 of file CPose3DPDFParticles.h.

◆ m_fastDrawAuxiliary

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary
mutableprotectedinherited

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

Definition at line 233 of file CParticleFilterCapable.h.

◆ m_particles

The array of particles.

Definition at line 184 of file CParticleFilterData.h.

◆ PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS

const unsigned mrpt::bayes::CParticleFilterCapable::PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS
staticprivateinherited

Definition at line 32 of file CParticleFilterCapable.h.

◆ state_length

const size_t mrpt::utils::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 31 of file CProbabilityDensityFunction.h.




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