CPose3DPDFParticles.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPose3DPDFParticles_H
#define CPose3DPDFParticles_H

#include <mrpt/poses/CPose3DPDF.h>
#include <mrpt/bayes/CProbabilityParticle.h>
#include <mrpt/bayes/CParticleFilterCapable.h>
#include <mrpt/bayes/CParticleFilterData.h>

namespace mrpt
{
        namespace poses
        {
                using namespace mrpt::bayes;
                using namespace mrpt::utils;

                /** \typedef CProbabilityParticle<CPose3D> CPose3DParticle
                 *  A type definition for m_particles containing a 3D pose.
                 */
                typedef CProbabilityParticle<CPose3D> CPose3DParticle;

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(CPose3DPDFParticles,CPose3DPDF)

                /** 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.
                 *
                 * \sa CPose3D, CPose3DPDF, CPoseGaussianPDF
                 * \ingroup poses_pdf_grp
                 */
                class BASE_IMPEXP CPose3DPDFParticles :
                        public CPose3DPDF,
                        public mrpt::bayes::CParticleFilterData<CPose3D>,
                        public mrpt::bayes::CParticleFilterCapable
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CPose3DPDFParticles )

                        // This uses CParticleFilterData to implement some methods required for CParticleFilterCapable:
                        IMPLEMENT_PARTICLE_FILTER_CAPABLE(CPose3D)

                 public:
                        /** Constructor
                          * \param M The number of m_particles.
                          */
                        CPose3DPDFParticles( size_t M = 1 );

                        /** Copy constructor:
                          */
                        inline CPose3DPDFParticles( const CPose3DPDFParticles& obj ) :
                                CPose3DPDF(),
                                CParticleFilterData<CPose3D>()
                        {
                                copyFrom( obj );
                        }

                        /** Destructor
                         */
                        virtual ~CPose3DPDFParticles();


                        /** Copy operator, translating if necesary (for example, between m_particles and gaussian representations)
                          */
                        void  copyFrom(const CPose3DPDF &o);

                        /** Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.
                          * \param location The location to set all the m_particles.
                          * \param particlesCount If this is set to 0 the number of m_particles remains unchanged.
                          *  \sa resetUniform, resetUniformFreeSpace
                          */
                        void  resetDeterministic( const CPose3D &location,
                                                                                                size_t  particlesCount = 0);

                         /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
                           * \sa getCovariance
                           */
                        void getMean(CPose3D &mean_pose) const;

                        /** Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
                          * \sa getMean
                          */
                        void getCovarianceAndMean(CMatrixDouble66 &cov,CPose3D &mean_point) const;

                        /** Returns the pose of the i'th particle.
                          */
                        CPose3D  getParticlePose(int i) const;

                        /** Save PDF's m_particles to a text file. In each line it will go: "x y z"
                         */
                        void  saveToTextFile(const std::string &file) const;

                        /** Get the m_particles count (equivalent to "particlesCount")
                         */
                        size_t  size() const { return m_particles.size(); }

                        /** 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.
                          */
                        void  changeCoordinatesReference( const CPose3D &newReferenceBase );

                        /** Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)
                          */
                        void  drawSingleSample( CPose3D &outPart ) const;

                        /** 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  drawManySamples( size_t N, std::vector<vector_double> & outSamples ) const;

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

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

                        /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF
                          */
                        void inverse(CPose3DPDF &o) const;

                        /** Returns the particle with the highest weight.
                          */
                        CPose3D  getMostLikelyParticle() const;

                        /** Bayesian fusion.
                          */
                        void  bayesianFusion( const CPose3DPDF &p1, const CPose3DPDF &p2 );

                }; // End of class def.


        } // End of namespace
} // End of namespace

#endif