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9 #ifndef CMetricMapBuilderRBPF_H
10 #define CMetricMapBuilderRBPF_H
118 mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation()
const;
122 void getCurrentMostLikelyPath( std::deque<mrpt::math::TPose3D> &outPath )
const;
129 void processActionObservation(
143 unsigned int getCurrentlyBuiltMapSize();
149 void saveCurrentEstimationToImage(
const std::string &file,
bool formatEMF_BMP =
true);
156 void saveCurrentPathEstimationToTextFile(
const std::string &fil );
158 double getCurrentJointEntropy();
165 observationsInserted(false)
float localizeAngDistance
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
Traveled distance since last map update.
bayes::CParticleFilter::TParticleFilterOptions m_PF_options
The configuration of the particle filter.
bool observationsInserted
Whether the SF has been inserted in the metric maps.
float insertionLinDistance
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
Declares a class for storing a collection of robot actions.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
TStats m_statsLastIteration
This structure will hold stats after each execution of processActionObservation.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
Traveled distance since last localization update.
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
bayes::CParticleFilter::TParticleFilterOptions PF_options
This class stores any customizable set of metric maps.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
mrpt::maps::TSetOfMetricMapInitializers mapsInitializers
mrpt::utils::non_copiable_ptr< mrpt::maps::CMultiMetricMap > currentMetricMapEstimation
A buffer: memory is actually hold within "mapPDF".
float localizeLinDistance
Distances (linear and angular) for updating the robot pose estimate (and particles weighs,...
This virtual class defines the interface of any object accepting drawing primitives on it.
float insertionLinDistance
Distances (linear and angular) for inserting a new observation into the map.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
float localizeLinDistance
This structure will hold stats after each execution of processActionObservation.
The struct for passing extra simulation parameters to the prediction/update stage when running a part...
Options for building a CMetricMapBuilderRBPF object, passed to the constructor.
This virtual class is the base for SLAM implementations.
mrpt::maps::CMultiMetricMapPDF mapPDF
The map PDF: It includes a path and associated map for each particle.
The configuration of a particle filter.
float insertionAngDistance
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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