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.
Definition at line 31 of file CMonteCarloLocalization3D.h.
#include <mrpt/slam/CMonteCarloLocalization3D.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
typedef CPose3D | type_value |
The type of the state the PDF represents. | |
typedef CPose3D | CParticleDataContent |
This is the type inside the corresponding CParticleData class. | |
typedef CProbabilityParticle< CPose3D > | CParticleData |
Use this to refer to each element in the m_particles array. | |
typedef std::deque< CParticleData > | CParticleList |
Use this type to refer to the list of particles m_particles. | |
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". | |
Public Member Functions | |
CMonteCarloLocalization3D (size_t M=1) | |
Constructor. | |
virtual | ~CMonteCarloLocalization3D () |
Destructor. | |
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. | |
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. | |
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. | |
void | copyFrom (const CPose3DPDF &o) MRPT_OVERRIDE |
Copy operator, translating if necesary (for example, between m_particles and gaussian representations) | |
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. | |
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. | |
virtual void | getMean (CPose3D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
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. | |
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. | |
CPose3D | getParticlePose (int i) const |
Returns the pose of the i'th particle. | |
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". | |
size_t | size () const |
Get the m_particles count (equivalent to "particlesCount") | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE |
this = p (+) this. | |
void | drawSingleSample (CPose3D &outPart) const MRPT_OVERRIDE |
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) | |
virtual void | drawSingleSample (CPose3D &outPart) const=0 |
Draws a single sample from the distribution. | |
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. | |
void | operator+= (const CPose3D &Ap) |
Appends (pose-composition) a given pose "p" to each particle. | |
void | append (CPose3DPDFParticles &o) |
Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. | |
void | inverse (CPose3DPDF &o) const MRPT_OVERRIDE |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. | |
CPose3D | getMostLikelyParticle () const |
Returns the particle with the highest weight. | |
void | bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE |
Bayesian fusion. | |
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) | |
template<class OPENGL_SETOFOBJECTSPTR > | |
OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
Returns a 3D representation of this PDF. | |
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. | |
CPose3D | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
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) | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
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. | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. | |
void | clearParticles () |
Free the memory of all the particles and reset the array "m_particles" to length zero. | |
void | writeParticlesToStream (STREAM &out) const |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). | |
void | readParticlesFromStream (STREAM &in) |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). | |
void | getWeights (std::vector< double > &out_logWeights) const |
Returns a vector with the sequence of the logaritmic weights of all the samples. | |
const CPose3DPDFParticles & | derived () const |
CRTP helper method. | |
CPose3DPDFParticles & | derived () |
CRTP helper method. | |
double | getW (size_t i) const MRPT_OVERRIDE |
Access to i'th particle (logarithm) weight, where first one is index 0. | |
void | setW (size_t i, double w) MRPT_OVERRIDE |
Modifies i'th particle (logarithm) weight, where first one is index 0. | |
size_t | particlesCount () const MRPT_OVERRIDE |
Get the m_particles count. | |
double | normalizeWeights (double *out_max_log_w=NULL) MRPT_OVERRIDE |
Normalize the (logarithmic) weights, such as the maximum weight is zero. | |
double | ESS () const MRPT_OVERRIDE |
Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. | |
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. | |
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. | |
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). | |
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. | |
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. | |
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. | |
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). | |
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. | |
Virtual methods that the PF_implementations assume exist. | |
virtual void | PF_SLAM_implementation_custom_update_particle_with_new_pose (mrpt::poses::CPose3D *particleData, const mrpt::math::TPose3D &newPose) const=0 |
virtual void | PF_SLAM_implementation_replaceByNewParticleSet (typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::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. | |
virtual bool | PF_SLAM_implementation_doWeHaveValidObservations (const typename mrpt::bayes::CParticleFilterData< mrpt::poses::CPose3D >::CParticleList &particles, const mrpt::obs::CSensoryFrame *sf) const |
virtual bool | PF_SLAM_implementation_skipRobotMovement () const |
Make a specialization if needed, eg. | |
Static Public Member Functions | |
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) It returns a new object of any of the derived classes of CPose3DPDF. | |
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. | |
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. | |
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. | |
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. | |
Public Attributes | |
TMonteCarloLocalizationParams | options |
MCL parameters. | |
CParticleList | m_particles |
The array of particles. | |
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). | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCPose3DPDF |
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). | |
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. | |
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. | |
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. | |
Protected Attributes | |
TFastDrawAuxVars | m_fastDrawAuxiliary |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. | |
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. | |
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) |
Static Private Attributes | |
static const unsigned | PARTICLE_FILTER_CAPABLE_FAST_DRAW_BINS |
RTTI stuff <br> | |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
typedef CPose3DPDFParticlesPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPose3DPDFParticles |
static mrpt::utils::TRuntimeClassId | classCPose3DPDFParticles |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static mrpt::utils::CObject * | CreateObject () |
static CPose3DPDFParticlesPtr | 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.
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inherited |
A typedef for the associated smart pointer
Definition at line 39 of file CPose3DPDFParticles.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.
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inherited |
The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 91 of file CPose3DPDF.h.
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inherited |
Enumerator | |
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is_PDF_val |
Definition at line 93 of file CPose3DPDF.h.
mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D | ( | size_t | M = 1 | ) |
Constructor.
M | The number of m_particles. |
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virtual |
Destructor.
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staticprotectedinherited |
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inherited |
Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.
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virtualinherited |
Bayesian fusion.
Implements mrpt::poses::CPose3DPDF.
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virtualinherited |
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 >.
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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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virtualinherited |
Copy operator, translating if necesary (for example, between m_particles and gaussian representations)
Implements mrpt::poses::CPose3DPDF.
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staticinherited |
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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.
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staticinherited |
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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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virtualinherited |
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 >.
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inherited |
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)
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pure virtualinherited |
Draws a single sample from the distribution.
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virtualinherited |
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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:
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 109 of file CPose3DPDF.h.
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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)
Definition at line 100 of file CPose3DPDF.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 85 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 67 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 76 of file CProbabilityDensityFunction.h.
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inherited |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 47 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 136 of file CProbabilityDensityFunction.h.
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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.
Definition at line 98 of file CProbabilityDensityFunction.h.
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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< mrpt::poses::CPose3D, CMonteCarloLocalization3D >.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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inherited |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 57 of file CProbabilityDensityFunction.h.
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inherited |
Returns the particle with the highest weight.
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inherited |
Returns the pose of the i'th particle.
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virtualinherited |
Reimplemented from mrpt::poses::CPose3DPDF.
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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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virtualinherited |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DPDF.
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inlinestaticinherited |
Definition at line 92 of file CPose3DPDF.h.
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inlinestaticinherited |
Definition at line 94 of file CPose3DPDF.h.
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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:
Referenced by mrpt::math::jacobians::jacobs_6D_pose_comp().
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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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inherited |
Appends (pose-composition) a given pose "p" to each particle.
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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< mrpt::poses::CPose3D, CMonteCarloLocalization3D >.
void mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_implementation_custom_update_particle_with_new_pose | ( | CParticleDataContent * | particleData, |
const mrpt::math::TPose3D & | newPose | ||
) | const |
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Definition at line 226 of file PF_implementations_data.h.
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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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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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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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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.
void mrpt::slam::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 |
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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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Make a specialization if needed, eg.
in the first step in SLAM.
Definition at line 235 of file PF_implementations_data.h.
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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*" |
Definition at line 71 of file PF_implementations.h.
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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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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:
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. |
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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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:
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. |
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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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).
Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::maps::CMultiMetricMapPDF.
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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:
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. |
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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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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Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.
location | The location to set all the m_particles. |
particlesCount | If this is set to 0 the number of m_particles remains unchanged. |
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virtualinherited |
Save PDF's m_particles to a text file. In each line it will go: "x y z".
Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
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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.
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inlineinherited |
Get the m_particles count (equivalent to "particlesCount")
Definition at line 72 of file CPose3DPDFParticles.h.
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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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protectedinherited |
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staticprotectedinherited |
Definition at line 39 of file CPose3DPDFParticles.h.
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staticinherited |
Definition at line 42 of file CPose3DPDF.h.
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staticinherited |
Definition at line 39 of file CPose3DPDFParticles.h.
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staticinherited |
Definition at line 39 of file CPose3DPDFParticles.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.
TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization3D::options |
MCL parameters.
Definition at line 38 of file CMonteCarloLocalization3D.h.
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staticprivateinherited |
Definition at line 32 of file CParticleFilterCapable.h.
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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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