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9 #ifndef CMultiMetricMapPDF_H
10 #define CMultiMetricMapPDF_H
29 namespace slam {
class CMetricMapBuilderRBPF; }
43 mapTillNow( mapsInitializers ),
63 public
mrpt::utils::CSerializable,
76 void prediction_and_update_pfStandardProposal(
83 void prediction_and_update_pfOptimalProposal(
90 void prediction_and_update_pfAuxiliaryPFOptimal(
174 void getEstimatedPosePDFAtTime(
202 void getPath(
size_t i, std::deque<math::TPose3D> &out_path)
const;
206 double getCurrentEntropyOfPaths();
210 double getCurrentJointEntropy();
214 void updateSensoryFrameSequence();
218 void saveCurrentPathEstimationToTextFile(
const std::string &fil );
227 void rebuildAverageMap();
238 void PF_SLAM_implementation_custom_update_particle_with_new_pose(
245 bool PF_SLAM_implementation_doWeHaveValidObservations(
249 bool PF_SLAM_implementation_skipRobotMovement()
const;
252 double PF_SLAM_computeObservationLikelihoodForParticle(
254 const size_t particleIndexForMap,
std::deque< CParticleData > CParticleList
Use this type to refer to the list of particles m_particles.
int pfOptimalProposal_mapSelection
[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on whic...
mrpt::slam::TKLDParams KLD_params
Auxiliary class used in mrpt::maps::CMultiMetricMapPDF.
The ICP algorithm configuration data.
Option set for KLD algorithm.
float ICPGlobalAlign_MinQuality
[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum ...
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
mrpt::maps::CMultiMetricMap averageMap
Internal buffer for the averaged map.
Declares a class for storing a collection of robot actions.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::deque< mrpt::math::TPose3D > robotPath
mrpt::maps::CSimpleMap SFs
The SFs and their corresponding pose estimations:
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
mrpt::slam::CICP::TConfigParams icp_params
ICP parameters, used only when "PF_algorithm=2" in the particle filter.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A class used to store a 2D pose.
This class stores any customizable set of metric maps.
COccupancyGridMap2D::TLikelihoodOptions update_gridMapLikelihoodOptions
[update stage] If the likelihood is computed through the occupancy grid map, then this structure is p...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
size_t size() const
Returns the count of pairs (pose,sensory data)
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
CMultiMetricMap mapTillNow
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
mrpt::maps::CMultiMetricMapPDF CMultiMetricMapPDF
Backward compatible typedef.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
The struct for passing extra simulation parameters to the prediction/update stage when running a part...
With this struct options are provided to the observation likelihood computation process.
CRBPFParticleData(const TSetOfMetricMapInitializers *mapsInitializers=NULL)
The configuration of a particle filter.
CRBPFParticleData CParticleDataContent
This is the type inside the corresponding CParticleData class.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
size_t getNumberOfObservationsInSimplemap() const
Get the number of CSensoryFrame inserted into the internal member SFs.
float newInfoIndex
An index [0,1] measuring how much information an observation aports to the map (Typ.
std::vector< uint32_t > SF2robotPath
A mapping between indexes in the SFs to indexes in the robot paths from particles.
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