Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications).
This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"
Definition at line 62 of file maps/CMultiMetricMapPDF.h.
#include <mrpt/maps/CMultiMetricMapPDF.h>
Classes | |
struct | TPredictionParams |
The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. More... | |
Public Types | |
typedef CRBPFParticleData | CParticleDataContent |
This is the type inside the corresponding CParticleData class. More... | |
typedef CProbabilityParticle< CRBPFParticleData > | CParticleData |
Use this to refer to each element in the m_particles array. More... | |
typedef std::deque< CParticleData > | CParticleList |
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 | |
CMultiMetricMapPDF (const bayes::CParticleFilter::TParticleFilterOptions &opts=bayes::CParticleFilter::TParticleFilterOptions(), const mrpt::maps::TSetOfMetricMapInitializers *mapsInitializers=NULL, const TPredictionParams *predictionOptions=NULL) | |
Constructor. More... | |
virtual | ~CMultiMetricMapPDF () |
Destructor. More... | |
void | clear (const mrpt::poses::CPose2D &initialPose) |
Clear all elements of the maps, and restore all paths to a single starting pose. More... | |
void | clear (const mrpt::poses::CPose3D &initialPose) |
Clear all elements of the maps, and restore all paths to a single starting pose. More... | |
void | getEstimatedPosePDFAtTime (size_t timeStep, mrpt::poses::CPose3DPDFParticles &out_estimation) const |
Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. More... | |
void | getEstimatedPosePDF (mrpt::poses::CPose3DPDFParticles &out_estimation) const |
Returns the current estimate of the robot pose, as a particles PDF. More... | |
CMultiMetricMap * | getCurrentMetricMapEstimation () |
Returns the weighted averaged map based on the current best estimation. More... | |
CMultiMetricMap * | getCurrentMostLikelyMetricMap () |
Returns a pointer to the current most likely map (associated to the most likely particle). More... | |
size_t | getNumberOfObservationsInSimplemap () const |
Get the number of CSensoryFrame inserted into the internal member SFs. More... | |
void | insertObservation (mrpt::obs::CSensoryFrame &sf) |
Insert an observation to the map, at each particle's pose and to each particle's metric map. More... | |
void | getPath (size_t i, std::deque< math::TPose3D > &out_path) const |
Return the path (in absolute coordinate poses) for the i'th particle. More... | |
double | getCurrentEntropyOfPaths () |
Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance. More... | |
double | getCurrentJointEntropy () |
Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. More... | |
void | updateSensoryFrameSequence () |
Update the poses estimation of the member "SFs" according to the current path belief. More... | |
void | saveCurrentPathEstimationToTextFile (const std::string &fil) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). More... | |
void | clearParticles () |
Free the memory of all the particles and reset the array "m_particles" to length zero. More... | |
void | writeParticlesToStream (STREAM &out) const |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More... | |
void | readParticlesFromStream (STREAM &in) |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More... | |
void | getWeights (std::vector< double > &out_logWeights) const |
Returns a vector with the sequence of the logaritmic weights of all the samples. More... | |
const CParticleData * | getMostLikelyParticle () const |
Returns the particle with the highest weight. More... | |
const CMultiMetricMapPDF & | derived () const |
CRTP helper method. More... | |
CMultiMetricMapPDF & | derived () |
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... | |
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. | |
const mrpt::math::TPose3D * | getLastPose (const size_t i) const |
Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). More... | |
void | PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const mrpt::math::TPose3D &newPose) const |
bool | PF_SLAM_implementation_doWeHaveValidObservations (const CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const |
bool | PF_SLAM_implementation_skipRobotMovement () const |
Make a specialization if needed, eg. More... | |
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_custom_update_particle_with_new_pose (CRBPFParticleData *particleData, const mrpt::math::TPose3D &newPose) const=0 |
virtual void | PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< CRBPFParticleData >::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< CRBPFParticleData >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const |
Static Public Member Functions | |
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 | |
mrpt::maps::CMultiMetricMapPDF::TPredictionParams | options |
float | newInfoIndex |
An index [0,1] measuring how much information an observation aports to the map (Typ. More... | |
CParticleList | m_particles |
The array of particles. More... | |
Protected Member Functions | |
void | prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
The PF algorithm implementation. More... | |
void | prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
The PF algorithm implementation. More... | |
void | prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
The PF algorithm implementation. 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... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
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... | |
Private Member Functions | |
float | H (float p) |
Entropy aux. More... | |
void | rebuildAverageMap () |
Rebuild the "expected" grid map. More... | |
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) |
Private Attributes | |
mrpt::maps::CMultiMetricMap | averageMap |
Internal buffer for the averaged map. More... | |
bool | averageMapIsUpdated |
mrpt::maps::CSimpleMap | SFs |
The SFs and their corresponding pose estimations: More... | |
std::vector< uint32_t > | SF2robotPath |
A mapping between indexes in the SFs to indexes in the robot paths from particles. More... | |
Static Private Attributes | |
static const unsigned | PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS |
Friends | |
class | mrpt::slam::CMetricMapBuilderRBPF |
RTTI stuff <br> | |
typedef CMultiMetricMapPDFPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CMultiMetricMapPDF |
static mrpt::utils::TRuntimeClassId | classCMultiMetricMapPDF |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CMultiMetricMapPDFPtr | Create () |
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inherited |
Use this to refer to each element in the m_particles array.
Definition at line 181 of file CParticleFilterData.h.
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inherited |
This is the type inside the corresponding CParticleData class.
Definition at line 180 of file CParticleFilterData.h.
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inherited |
Use this type to refer to the list of particles m_particles.
Definition at line 182 of file CParticleFilterData.h.
A typedef for the associated smart pointer
Definition at line 71 of file maps/CMultiMetricMapPDF.h.
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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.
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. |
Definition at line 54 of file CParticleFilterCapable.h.
mrpt::maps::CMultiMetricMapPDF::CMultiMetricMapPDF | ( | const bayes::CParticleFilter::TParticleFilterOptions & | opts = bayes::CParticleFilter::TParticleFilterOptions() , |
const mrpt::maps::TSetOfMetricMapInitializers * | mapsInitializers = NULL , |
||
const TPredictionParams * | predictionOptions = NULL |
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) |
Constructor.
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virtual |
Destructor.
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staticprotected |
void mrpt::maps::CMultiMetricMapPDF::clear | ( | const mrpt::poses::CPose2D & | initialPose | ) |
Clear all elements of the maps, and restore all paths to a single starting pose.
void mrpt::maps::CMultiMetricMapPDF::clear | ( | const mrpt::poses::CPose3D & | initialPose | ) |
Clear all elements of the maps, and restore all paths to a single starting pose.
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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.
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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
[in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
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static |
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static |
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inlinestaticinherited |
The default evaluator function, which simply returns the particle weight.
The action and the observation are declared as "void*" for a greater flexibility.
Definition at line 65 of file CParticleFilterCapable.h.
References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.
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inlineinherited |
CRTP helper method.
Definition at line 36 of file CParticleFilterData.h.
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inlineinherited |
CRTP helper method.
Definition at line 34 of file CParticleFilterData.h.
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virtual |
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inlinevirtualinherited |
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.
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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:
double mrpt::maps::CMultiMetricMapPDF::getCurrentEntropyOfPaths | ( | ) |
Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance.
double mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy | ( | ) |
Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C.
Stachniss, G. Grissetti and W.Burgard.
CMultiMetricMap * mrpt::maps::CMultiMetricMapPDF::getCurrentMetricMapEstimation | ( | ) |
Returns the weighted averaged map based on the current best estimation.
If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy.
CMultiMetricMap * mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap | ( | ) |
Returns a pointer to the current most likely map (associated to the most likely particle).
void mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF | ( | mrpt::poses::CPose3DPDFParticles & | out_estimation | ) | const |
Returns the current estimate of the robot pose, as a particles PDF.
void mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDFAtTime | ( | size_t | timeStep, |
mrpt::poses::CPose3DPDFParticles & | out_estimation | ||
) | const |
Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1.
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virtual |
Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty).
Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.
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inlineinherited |
Returns the particle with the highest weight.
Definition at line 259 of file CParticleFilterData.h.
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inline |
Get the number of CSensoryFrame inserted into the internal member SFs.
Definition at line 192 of file maps/CMultiMetricMapPDF.h.
References mrpt::maps::CSimpleMap::size().
void mrpt::maps::CMultiMetricMapPDF::getPath | ( | size_t | i, |
std::deque< math::TPose3D > & | out_path | ||
) | const |
Return the path (in absolute coordinate poses) for the i'th particle.
On | index out of bounds |
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virtual |
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inlinevirtualinherited |
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.
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inlineinherited |
Returns a vector with the sequence of the logaritmic weights of all the samples.
Definition at line 246 of file CParticleFilterData.h.
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private |
Entropy aux.
function
void mrpt::maps::CMultiMetricMapPDF::insertObservation | ( | mrpt::obs::CSensoryFrame & | sf | ) |
Insert an observation to the map, at each particle's pose and to each particle's metric map.
sf | The SF to be inserted |
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staticinherited |
A static method to compute the linear, normalized (the sum the unity) weights from log-weights.
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inlinevirtualinherited |
Normalize the (logarithmic) weights, such as the maximum weight is zero.
out_max_log_w | If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w. |
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 55 of file CParticleFilterData.h.
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inlinevirtualinherited |
Get the m_particles count.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 50 of file CParticleFilterData.h.
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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"
[in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
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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.
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privateinherited |
Definition at line 271 of file PF_implementations.h.
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virtual |
Evaluate the observation likelihood for one particle at a given location.
Implements mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.
void mrpt::maps::CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose | ( | CParticleDataContent * | particleData, |
const mrpt::math::TPose3D & | newPose | ||
) | const |
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pure virtualinherited |
bool mrpt::maps::CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations | ( | const CParticleList & | particles, |
const mrpt::obs::CSensoryFrame * | sf | ||
) | const |
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inlinevirtualinherited |
Definition at line 226 of file PF_implementations_data.h.
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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 256 of file PF_implementations.h.
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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 105 of file PF_implementations.h.
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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 122 of file PF_implementations.h.
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privateinherited |
The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING.
Definition at line 263 of file PF_implementations.h.
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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.
Definition at line 135 of file PF_implementations.h.
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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 161 of file PF_implementations_data.h.
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virtual |
Make a specialization if needed, eg.
in the first step in SLAM.
Reimplemented from mrpt::slam::PF_implementation< CRBPFParticleData, CMultiMetricMapPDF >.
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staticprotectedinherited |
Definition at line 79 of file PF_implementations.h.
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staticprotectedinherited |
Compute w[i]*p(z_t | mu_t^i), with mu_t^i being the mean of the new robot pose.
action | MUST be a "const CPose3D*" |
observation | MUST be a "const CSensoryFrame*" |
action | MUST be a "const CPose3D*" |
observation | MUST be a "const CSensoryFrame*" |
Definition at line 71 of file PF_implementations.h.
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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.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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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).
Reimplemented in mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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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):
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.
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inlineinherited |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
Definition at line 226 of file CParticleFilterData.h.
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private |
Rebuild the "expected" grid map.
Used internally, do not call
void mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile | ( | const std::string & | fil | ) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).
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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.
void mrpt::maps::CMultiMetricMapPDF::updateSensoryFrameSequence | ( | ) |
Update the poses estimation of the member "SFs" according to the current path belief.
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inlineinherited |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
Definition at line 211 of file CParticleFilterData.h.
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protected |
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friend |
Definition at line 68 of file maps/CMultiMetricMapPDF.h.
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staticprotected |
Definition at line 71 of file maps/CMultiMetricMapPDF.h.
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private |
Internal buffer for the averaged map.
Definition at line 98 of file maps/CMultiMetricMapPDF.h.
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private |
Definition at line 99 of file maps/CMultiMetricMapPDF.h.
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static |
Definition at line 71 of file maps/CMultiMetricMapPDF.h.
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static |
Definition at line 71 of file maps/CMultiMetricMapPDF.h.
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protectedinherited |
Definition at line 52 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 53 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 54 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 55 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.
Definition at line 233 of file CParticleFilterCapable.h.
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protectedinherited |
Used in al PF implementations.
Definition at line 57 of file PF_implementations_data.h.
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inherited |
The array of particles.
Definition at line 184 of file CParticleFilterData.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 58 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 61 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 60 of file PF_implementations_data.h.
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protectedinherited |
Definition at line 62 of file PF_implementations_data.h.
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mutableprotectedinherited |
Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.
Definition at line 59 of file PF_implementations_data.h.
float mrpt::maps::CMultiMetricMapPDF::newInfoIndex |
An index [0,1] measuring how much information an observation aports to the map (Typ.
threshold=0.07)
Definition at line 222 of file maps/CMultiMetricMapPDF.h.
mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::maps::CMultiMetricMapPDF::options |
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staticprivateinherited |
Definition at line 32 of file CParticleFilterCapable.h.
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private |
A mapping between indexes in the SFs to indexes in the robot paths from particles.
Definition at line 107 of file maps/CMultiMetricMapPDF.h.
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private |
The SFs and their corresponding pose estimations:
Definition at line 103 of file maps/CMultiMetricMapPDF.h.
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