The configuration of a particle filter.
#include <mrpt/bayes/CParticleFilter.h>
Public Member Functions | |
| TParticleFilterOptions () | |
| Initilization of default parameters. | |
| void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| See mrpt::utils::CLoadableOptions. | |
| void | dumpToTextStream (mrpt::utils::CStream &out) const |
| See mrpt::utils::CLoadableOptions. | |
| void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
| Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. | |
| virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| This method saves the options to a ".ini"-like file or memory-stored string list. | |
| void | saveToConfigFileName (const std::string &config_file, const std::string §ion) |
| Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. | |
| void | dumpToConsole () const |
| This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
Public Attributes | |
| bool | adaptiveSampleSize |
| A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false). | |
| double | BETA |
| The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5) | |
| unsigned int | sampleSize |
| The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1) | |
| unsigned int | pfAuxFilterOptimal_MaximumSearchSamples |
| In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100) | |
| double | powFactor |
| An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects). | |
| TParticleFilterAlgorithm | PF_algorithm |
| The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities. | |
| TParticleResamplingAlgorithm | resamplingMethod |
| The resampling algorithm to use (default=prMultinomial). | |
| double | max_loglikelihood_dyn_range |
| Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded. | |
| bool | pfAuxFilterStandard_FirstStageWeightsMonteCarlo |
| Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step. | |
| bool | verbose |
| Enable extra messages for each PF iteration (Default=false) | |
| bool | pfAuxFilterOptimal_MLE |
| (Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage. | |
Static Protected Member Functions | |
| static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. | |
| static void | dumpVar_float (CStream &out, const char *varName, float v) |
| static void | dumpVar_double (CStream &out, const char *varName, double v) |
| static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
| static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
| mrpt::bayes::CParticleFilter::TParticleFilterOptions::TParticleFilterOptions | ( | ) |
Initilization of default parameters.
| void mrpt::utils::CLoadableOptions::dumpToConsole | ( | ) | const [inherited] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
| void mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream | ( | mrpt::utils::CStream & | out | ) | const [virtual] |
See mrpt::utils::CLoadableOptions.
Implements mrpt::utils::CLoadableOptions.
| static void mrpt::utils::CLoadableOptions::dumpVar_bool | ( | CStream & | out, |
| const char * | varName, | ||
| bool | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_double | ( | CStream & | out, |
| const char * | varName, | ||
| double | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_float | ( | CStream & | out, |
| const char * | varName, | ||
| float | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_int | ( | CStream & | out, |
| const char * | varName, | ||
| int | v | ||
| ) | [static, protected, inherited] |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
| static void mrpt::utils::CLoadableOptions::dumpVar_string | ( | CStream & | out, |
| const char * | varName, | ||
| const std::string & | v | ||
| ) | [static, protected, inherited] |
| void mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) | [virtual] |
See mrpt::utils::CLoadableOptions.
Implements mrpt::utils::CLoadableOptions.
| void mrpt::utils::CLoadableOptions::loadFromConfigFileName | ( | const std::string & | config_file, |
| const std::string & | section | ||
| ) | [inherited] |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
| virtual void mrpt::utils::CLoadableOptions::saveToConfigFile | ( | mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) | [inline, virtual, inherited] |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.
Definition at line 87 of file CLoadableOptions.h.
References THROW_EXCEPTION.
| void mrpt::utils::CLoadableOptions::saveToConfigFileName | ( | const std::string & | config_file, |
| const std::string & | section | ||
| ) | [inherited] |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
A flag that indicates whether the CParticleFilterCapable object should perform adative sample size (default=false).
Definition at line 122 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().
The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5)
Definition at line 126 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().
Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded.
This is done to assure that the rejection sampling doesn't get stuck in an infinite loop trying to get an acceptable sample. Default = 15 (in logarithmic likelihood)
Definition at line 153 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step().
The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities.
Definition at line 142 of file CParticleFilter.h.
| unsigned int mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples |
In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100)
Definition at line 134 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFOptimal(), and mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFStandard().
(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage.
Definition at line 166 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFStandard(), mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step().
Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step.
If true, these weights will be estimated as described in the papers for the "pfAuxiliaryPFOptimal" method, i.e. through a monte carlo simulation. In that case, "pfAuxFilterOptimal_MaximumSearchSamples" is the number of MC samples used.
Definition at line 160 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFStandard().
An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects).
Definition at line 138 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step().
The resampling algorithm to use (default=prMultinomial).
Definition at line 146 of file CParticleFilter.h.
The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1)
Definition at line 130 of file CParticleFilter.h.
Enable extra messages for each PF iteration (Default=false)
Definition at line 162 of file CParticleFilter.h.
Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step().
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