Detailed Description

Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples.

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.

See Also: CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 54 of file CPosePDFParticles.h.

#include <mrpt/poses/CPosePDFParticles.h>

Inheritance diagram for mrpt::poses::CPosePDFParticles:

[legend]

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

typedef CPose2D	type_value
	The type of the state the PDF represents.

typedef CPose2D	CParticleDataContent
	This is the type inside the corresponding CParticleData class.

typedef CProbabilityParticle < CPose2D >	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
void	clear ()
	Free all the memory associated to m_particles, and set the number of parts = 0.

	CPosePDFParticles (size_t M=1)
	Constructor.

	CPosePDFParticles (const CPosePDFParticles &obj)
	Copy constructor:

virtual	~CPosePDFParticles ()
	Destructor.

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

void	resetDeterministic (const CPose2D &location, size_t particlesCount=0)
	Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

void	resetUniform (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &phi_min=-M_PI, const double &phi_max=M_PI, const int &particlesCount=-1)
	Reset the PDF to an uniformly distributed one, inside of the defined cube.

void	getMean (CPose2D &mean_pose) const
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

void	getCovarianceAndMean (CMatrixDouble33 &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

CPose2D	getParticlePose (size_t i) const
	Returns the pose of the i'th particle.

void	saveToTextFile (const std::string &file) const
	Save PDF's m_particles to a text file.

size_t	size () const
	Get the m_particles count (equivalent to "particlesCount")

void	performSubstitution (std::vector< int > &indx)
	Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly.

void	changeCoordinatesReference (const CPose3D &newReferenceBase)
	this = p (+) this.

void	drawSingleSample (CPose2D &outPart) const
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

void	operator+= (const CPose2D &Ap)
	Appends (pose-composition) a given pose "p" to each particle.

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

void	inverse (CPosePDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

CPose2D	getMostLikelyParticle () const
	Returns the particle with the highest weight.

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)
	Bayesian fusion.

double	evaluatePDF_parzen (const double &x, const double &y, const double &phi, const double &stdXY, const double &stdPhi) const
	Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window.

void	saveParzenPDFToTextFile (const char *fileName, const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &phi, const double &stepSizeXY, const double &stdXY, const double &stdPhi) const
	Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window.

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.

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

CObject *	clone () const
	Cloning interface for smart pointers.

virtual void	getMean (CPose2D &mean_point) const =0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF).

virtual void	getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const =0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

void	getCovarianceDynAndMean (CMatrixDouble &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

CPose2D	getMeanVal () const
	Returns the mean, or mathematical expectation of the probability density distribution (PDF).

void	getCovariance (CMatrixDouble &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

void	getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

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 (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.

virtual void	drawSingleSample (CPose2D &outPart) const =0
	Draws a single sample from the distribution.

virtual void	drawManySamples (size_t N, std::vector< vector_double > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

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 (utils::CStream &out) const
	Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

void	readParticlesFromStream (utils::CStream &in)
	Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

void	getWeights (vector_double &out_logWeights) const
	Returns a vector with the sequence of the logaritmic weights of all the samples.

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).

virtual double	getW (size_t i) const =0
	Access to i'th particle (logarithm) weight, where first one is index 0.

virtual void	setW (size_t i, double w)=0
	Modifies i'th particle (logarithm) weight, where first one is index 0.

virtual size_t	particlesCount () const =0
	Get the m_particles count.

void	prediction_and_update (const mrpt::slam::CActionCollection action, const mrpt::slam::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the prediction stage of the Particle Filter.

virtual void	performSubstitution (const std::vector< size_t > &indx)=0
	Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly.

virtual double	normalizeWeights (double *out_max_log_w=NULL)=0
	Normalize the (logarithmic) weights, such as the maximum weight is zero.

virtual double	ESS ()=0
	Returns the normalized ESS (Estimated Sample Size), in the range [0,1].

void	performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs a resample of the m_particles, using the method selected in the constructor.

Static Public Member Functions
static void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)
	This static method computes the pose composition Jacobians, with these formulas:

static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)

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 vector_double &in_logWeights, std::vector< size_t > &out_indexes)
	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 vector_double &in_logWeights, vector_double &out_linWeights)
	A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

Public Attributes
CParticleList	m_particles
	The array of particles.

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

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
static const mrpt::utils::TRuntimeClassId	classCPosePDF

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
	IMPLEMENT_PARTICLE_FILTER_CAPABLE (CPose2D)

virtual void	prediction_and_update_pfStandardProposal (const mrpt::slam::CActionCollection action, const mrpt::slam::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

virtual void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::slam::CActionCollection action, const mrpt::slam::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).

virtual void	prediction_and_update_pfOptimalProposal (const mrpt::slam::CActionCollection action, const mrpt::slam::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).

virtual void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::slam::CActionCollection action, const mrpt::slam::CSensoryFrame observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (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
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Protected Attributes
TFastDrawAuxVars	m_fastDrawAuxiliary
	Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

RTTI stuff
typedef CPosePDFParticlesPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CPosePDFParticles

static mrpt::utils::TRuntimeClassId	classCPosePDFParticles

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.

static mrpt::utils::CObject *	CreateObject ()

static CPosePDFParticlesPtr	Create ()

Member Typedef Documentation

typedef CProbabilityParticle<CPose2D > mrpt::bayes::CParticleFilterData< CPose2D >::CParticleData

inherited

Use this to refer to each element in the m_particles array.

Definition at line 61 of file CParticleFilterData.h.

typedef CPose2D mrpt::bayes::CParticleFilterData< CPose2D >::CParticleDataContent

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 60 of file CParticleFilterData.h.

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData< CPose2D >::CParticleList

inherited

Use this type to refer to the list of particles m_particles.

Definition at line 62 of file CParticleFilterData.h.

typedef CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::SmartPtr

A typedef for the associated smart pointer

Definition at line 60 of file CPosePDFParticles.h.

typedef double( * mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator)(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)

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.

Parameters

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.

See Also: prepareFastDrawSample

Definition at line 73 of file CParticleFilterCapable.h.

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value

inherited

The type of the state the PDF represents.

Definition at line 54 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 110 of file CPosePDF.h.

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 112 of file CPosePDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPosePDFParticles::CPosePDFParticles ( size_t M = 1 )

Constructor.

Parameters

M	The number of m_particles.

mrpt::poses::CPosePDFParticles::CPosePDFParticles ( const CPosePDFParticles & obj )

inline

Copy constructor:

Definition at line 77 of file CPosePDFParticles.h.

virtual mrpt::poses::CPosePDFParticles::~CPosePDFParticles ( )

virtual

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::_GetBaseClass ( )

staticprotected

void mrpt::poses::CPosePDFParticles::append ( CPosePDFParticles & o )

Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.

void mrpt::poses::CPosePDFParticles::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)

virtual

Bayesian fusion.

Implements mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFParticles::changeCoordinatesReference ( const CPose3D & newReferenceBase )

virtual

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< CPose2D, 3 >.

void mrpt::poses::CPosePDFParticles::clear ( )

Free all the memory associated to m_particles, and set the number of parts = 0.

void mrpt::bayes::CParticleFilterData< CPose2D >::clearParticles ( )

inlineinherited

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 72 of file CParticleFilterData.h.

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

static void mrpt::bayes::CParticleFilterCapable::computeResampling	(	CParticleFilter::TParticleResamplingAlgorithm	method,
		const vector_double &	in_logWeights,
		std::vector< size_t > &	out_indexes
	)

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

See Also: performResampling

void mrpt::poses::CPosePDFParticles::copyFrom ( const CPosePDF & o )

virtual

Copy operator, translating if necesary (for example, between m_particles and gaussian representations)

Implements mrpt::poses::CPosePDF.

static CPosePDFParticlesPtr mrpt::poses::CPosePDFParticles::Create ( )

static

static mrpt::utils::CObject* mrpt::poses::CPosePDFParticles::CreateObject ( )

static

static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const CParticleFilterCapable *	obj,
		size_t	index,
		const void *	action,
		const void *	observation
	)

inlinestaticinherited

The default evaluator function, which simply returns the particle weight.

The action and the observation are declared as "void*" for a greater flexibility.

See Also: prepareFastDrawSample

Definition at line 84 of file CParticleFilterCapable.h.

References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 139 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

void mrpt::poses::CPosePDFParticles::drawSingleSample ( CPose2D & outPart ) const

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFParticles::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

virtual double mrpt::bayes::CParticleFilterCapable::ESS ( )

pure virtualinherited

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.

double mrpt::poses::CPosePDFParticles::evaluatePDF_parzen	(	const double &	x,
		const double &	y,
		const double &	phi,
		const double &	stdXY,
		const double &	stdPhi
	)		const

Evaluates the PDF at a given arbitrary point as reconstructed by a Parzen window.

See Also: saveParzenPDFToTextFile

size_t mrpt::bayes::CParticleFilterCapable::fastDrawSample ( const bayes::CParticleFilter::TParticleFilterOptions & PF_options ) const

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:

You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)
This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]
You do not need to call "normalizeWeights" before calling this.
See Also
prepareFastDrawSample

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

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)

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 119 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const

inlineinherited

Returns a 3D representation of this PDF.

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 128 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( CMatrixDouble & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 89 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also: getMean, getInformationMatrix

Definition at line 107 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose2D &	mean_point
	)		const

pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also: getMean, getInformationMatrix

void mrpt::poses::CPosePDFParticles::getCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

See Also: getMean

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		CPose2D &	mean_point
	)		const

inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also: getMean, getInformationMatrix

Definition at line 69 of file CProbabilityDensityFunction.h.

References mrpt::math::UNINITIALIZED_MATRIX.

double mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const

inlineinherited

Compute the entropy of the estimated covariance matrix.

See Also: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 158 of file CProbabilityDensityFunction.h.

References det().

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & inf ) const

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.

See Also: getMean, getCovarianceAndMean

Definition at line 120 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D & mean_point ) const

pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also: getCovarianceAndMean, getInformationMatrix

void mrpt::poses::CPosePDFParticles::getMean ( CPose2D & mean_pose ) const

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

See Also: getCovariance

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also: getCovariance, getInformationMatrix

Definition at line 79 of file CProbabilityDensityFunction.h.

CPose2D mrpt::poses::CPosePDFParticles::getMostLikelyParticle ( ) const

Returns the particle with the highest weight.

CPose2D mrpt::poses::CPosePDFParticles::getParticlePose ( size_t i ) const

Returns the pose of the i'th particle.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

virtual double mrpt::bayes::CParticleFilterCapable::getW ( size_t i ) const

pure virtualinherited

Access to i'th particle (logarithm) weight, where first one is index 0.

Referenced by mrpt::bayes::CParticleFilterCapable::defaultEvaluator().

void mrpt::bayes::CParticleFilterData< CPose2D >::getWeights ( vector_double & out_logWeights ) const

inlineinherited

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 127 of file CParticleFilterData.h.

mrpt::poses::CPosePDFParticles::IMPLEMENT_PARTICLE_FILTER_CAPABLE ( CPose2D )

protected

void mrpt::poses::CPosePDFParticles::inverse ( CPosePDF & o ) const

virtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPosePDF.

static bool mrpt::poses::CPosePDF::is_3D ( )

inlinestaticinherited

Definition at line 111 of file CPosePDF.h.

static bool mrpt::poses::CPosePDF::is_PDF ( )

inlinestaticinherited

Definition at line 113 of file CPosePDF.h.

static void mrpt::poses::CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		CMatrixDouble33 &	df_dx,
		CMatrixDouble33 &	df_du
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

static void mrpt::poses::CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		CMatrixDouble33 &	df_dx,
		CMatrixDouble33 &	df_du
	)

staticinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

static void mrpt::bayes::CParticleFilterCapable::log2linearWeights	(	const vector_double &	in_logWeights,
		vector_double &	out_linWeights
	)

staticinherited

A static method to compute the linear, normalized (the sum the unity) weights from log-weights.

See Also: performResampling

virtual double mrpt::bayes::CParticleFilterCapable::normalizeWeights ( double * out_max_log_w = NULL )

pure virtualinherited

Normalize the (logarithmic) weights, such as the maximum weight is zero.

Parameters

out_max_log_w If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w.

Returns: The max/min ratio of weights ("dynamic range")

void mrpt::poses::CPosePDFParticles::operator+= ( const CPose2D & Ap )

Appends (pose-composition) a given pose "p" to each particle.

virtual size_t mrpt::bayes::CParticleFilterCapable::particlesCount ( ) const

pure virtualinherited

Get the m_particles count.

void mrpt::bayes::CParticleFilterCapable::performResampling ( const bayes::CParticleFilter::TParticleFilterOptions & PF_options )

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"

See Also: resample

void mrpt::poses::CPosePDFParticles::performSubstitution ( std::vector< int > & indx )

Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly.

virtual void mrpt::bayes::CParticleFilterCapable::performSubstitution ( const std::vector< size_t > & indx )

pure virtualinherited

Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly.

Parameters

indx	The indices of current m_particles to be saved as the new m_particles set.

void mrpt::bayes::CParticleFilterCapable::prediction_and_update	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

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.

See Also: prediction_and_update_pfStandardProposal,prediction_and_update_pfAuxiliaryPFStandard,prediction_and_update_pfOptimalProposal,prediction_and_update_pfAuxiliaryPFOptimal

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See Also: prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, mrpt::slam::CMonteCarloLocalization2D, mrpt::slam::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

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).

See Also: prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfOptimalProposal	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

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).

See Also: prediction_and_update

Reimplemented in mrpt::hmtslam::CLocalMetricHypothesis, and mrpt::slam::CMultiMetricMapPDF.

virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfStandardProposal	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

protectedvirtualinherited

Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).

See Also: prediction_and_update

Reimplemented in mrpt::slam::CMonteCarloLocalization2D, mrpt::slam::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.

void mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		TParticleProbabilityEvaluator	partEvaluator = `defaultEvaluator`,
		const void *	action = `NULL`,
		const void *	observation = `NULL`
	)		const

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):

DYNAMIC SAMPLE SIZE=NO: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.
DYNAMIC SAMPLE SIZE=YES: Then:
- If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.
- For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.

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.

See Also: fastDrawSample

void mrpt::poses::CPosePDFParticles::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See Also: CStream

Implements mrpt::utils::CSerializable.

void mrpt::bayes::CParticleFilterData< CPose2D >::readParticlesFromStream ( utils::CStream & in )

inlineinherited

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See Also: writeParticlesToStream

Definition at line 107 of file CParticleFilterData.h.

void mrpt::poses::CPosePDFParticles::resetDeterministic	(	const CPose2D &	location,
		size_t	particlesCount = `0`
	)

Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.

Parameters

location	The location to set all the m_particles.
particlesCount	If this is set to 0 the number of m_particles remains unchanged.

See Also: resetUniform, resetUniformFreeSpace

void mrpt::poses::CPosePDFParticles::resetUniform	(	const double &	x_min,
		const double &	x_max,
		const double &	y_min,
		const double &	y_max,
		const double &	phi_min = `-M_PI`,
		const double &	phi_max = `M_PI`,
		const int &	particlesCount = `-1`
	)

Reset the PDF to an uniformly distributed one, inside of the defined cube.

If particlesCount is set to -1 the number of m_particles remains unchanged.

See Also: resetDeterministic, resetUniformFreeSpace

void mrpt::poses::CPosePDFParticles::saveParzenPDFToTextFile	(	const char *	fileName,
		const double &	x_min,
		const double &	x_max,
		const double &	y_min,
		const double &	y_max,
		const double &	phi,
		const double &	stepSizeXY,
		const double &	stdXY,
		const double &	stdPhi
	)		const

Save a text file (compatible with matlab) representing the 2D evaluation of the PDF as reconstructed by a Parzen window.

See Also: evaluatePDF_parzen

void mrpt::poses::CPosePDFParticles::saveToTextFile ( const std::string & file ) const

virtual

Save PDF's m_particles to a text file.

In each line it will go: "x y phi weight"

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

virtual void mrpt::bayes::CParticleFilterCapable::setW	(	size_t	i,
		double	w
	)

pure virtualinherited

Modifies i'th particle (logarithm) weight, where first one is index 0.

size_t mrpt::poses::CPosePDFParticles::size ( ) const

inline

Get the m_particles count (equivalent to "particlesCount")

Definition at line 132 of file CPosePDFParticles.h.

void mrpt::bayes::CParticleFilterData< CPose2D >::writeParticlesToStream ( utils::CStream & out ) const

inlineinherited

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See Also: readParticlesFromStream

Definition at line 93 of file CParticleFilterData.h.

void mrpt::poses::CPosePDFParticles::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFParticles::_init_CPosePDFParticles

staticprotected

Definition at line 60 of file CPosePDFParticles.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF

staticinherited

Definition at line 62 of file CPosePDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFParticles::classCPosePDFParticles

static

Definition at line 60 of file CPosePDFParticles.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFParticles::classinfo

static

Definition at line 60 of file CPosePDFParticles.h.

TFastDrawAuxVars mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary

mutableprotectedinherited

Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.

Definition at line 249 of file CParticleFilterCapable.h.

CParticleList mrpt::bayes::CParticleFilterData< CPose2D >::m_particles

inherited

The array of particles.

Definition at line 64 of file CParticleFilterData.h.

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::state_length

staticinherited

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 53 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation