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CParticleFilterData.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  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.                                   |
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   |     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.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CParticleFilterData_H
#define CParticleFilterData_H

#include <mrpt/utils/utils_defs.h>
#include <mrpt/bayes/CProbabilityParticle.h>

#include <algorithm>

namespace mrpt
{
namespace bayes
{
        /** This template class declares the array of particles and its internal data, managing some memory-related issues and providing an easy implementation of virtual methods required for implementing a CParticleFilterCapable.
         *  By adding IMPLEMENT_PARTICLE_FILTER_CAPABLE(T) to the body of the declaration of classes inheriting from both CParticleFilterData and CParticleFilterCapable, the following
         *    pure virtual methods are automatically implemented (the param T must be equal to the argument of the template CParticleFilterData).
          *   - CParticleFilterCapable::getW
          *   - CParticleFilterCapable::setW
          *   - CParticleFilterCapable::particlesCount
          *   - CParticleFilterCapable::normalizeWeights
          *   - CParticleFilterCapable::ESS
          *   - CParticleFilterCapable::performSubstitution
         *
         *   Since CProbabilityParticle implements all the required operators, the member "m_particles" can be safely copied with "=" or copy constructor operators
         *    and new objects will be created internally instead of copying the internal pointers, which would lead to memory corruption.
         *
         * \sa CParticleFilter, CParticleFilterCapable, IMPLEMENT_PARTICLE_FILTER_CAPABLE
         */
        template <class T>
        class CParticleFilterData
        {
        public:
                typedef T                                                       CParticleDataContent;   //!< This is the type inside the corresponding CParticleData class
                typedef CProbabilityParticle<T>         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.

                CParticleList  m_particles;     //!< The array of particles

                /** Default constructor */
                CParticleFilterData() : m_particles(0)
                { }

        /** Free the memory of all the particles and reset the array "m_particles" to length zero.
          */
        void clearParticles()
                {
                        MRPT_START
                        for (typename CParticleList::iterator it=m_particles.begin();it!=m_particles.end();it++)
                                if (it->d) delete it->d;
                        m_particles.clear();
                        MRPT_END
                }

        /** Virtual destructor
          */
        virtual ~CParticleFilterData()
                {
                        MRPT_START
                        clearParticles();
                        MRPT_END
                }

                /** Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
                  * \sa readParticlesFromStream
                  */
                void  writeParticlesToStream( utils::CStream &out ) const
                {
                        MRPT_START
                        uint32_t        n = static_cast<uint32_t>(m_particles.size());
                        out << n;
                        typename CParticleList::const_iterator it;
                        for (it=m_particles.begin();it!=m_particles.end();it++)
                                out << it->log_w << (*it->d);
                        MRPT_END
                }

                /** Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
                  * \sa writeParticlesToStream
                  */
                void  readParticlesFromStream(utils::CStream &in)
                {
                        MRPT_START
                        clearParticles();       // Erase previous content:
                        uint32_t        n;
                        in >> n;
                        m_particles.resize(n);
                        typename CParticleList::iterator it;
                        for (it=m_particles.begin();it!=m_particles.end();it++)
                        {
                                in >> it->log_w;
                                it->d = new T();
                                in >> *it->d;
                        }
                        MRPT_END
                }


                /** Returns a vector with the sequence of the logaritmic weights of all the samples.
                  */
                void getWeights( vector_double &out_logWeights ) const
                {
                        MRPT_START
                        out_logWeights.resize(m_particles.size());
                        vector_double::iterator                                         it;
                        typename CParticleList::const_iterator  it2;
                        for (it=out_logWeights.begin(),it2=m_particles.begin();it2!=m_particles.end();it++,it2++)
                                *it = it2->log_w;
                        MRPT_END
                }

                /** Returns the particle with the highest weight.
                  */
                const CParticleData * getMostLikelyParticle() const
                {
                        MRPT_START
                        const CParticleData *ret = NULL;
                        ASSERT_(m_particles.size()>0)

                        typename CParticleList::const_iterator  it;
                        for (it=m_particles.begin();it!=m_particles.end();it++)
                        {
                                if (ret==NULL || it->log_w > ret->log_w)
                                        ret = &(*it);
                        }
                        return ret;
                        MRPT_END
                }


        }; // End of class def.

        /** This must be placed within the declaration of classes inheriting from both CParticleFilterData and CParticleFilterCapable to implement some pure virtual methods (the param T must be equal to the argument of the template CParticleFilterData).
          *  The following pure virtual methods are implemented:
          *   - CParticleFilterCapable::getW
          *   - CParticleFilterCapable::setW
          *   - CParticleFilterCapable::particlesCount
          *   - CParticleFilterCapable::normalizeWeights
          *   - CParticleFilterCapable::ESS
          *   - CParticleFilterCapable::performSubstitution
          */
#define IMPLEMENT_PARTICLE_FILTER_CAPABLE(T) \
                public: \
                virtual double  getW(size_t i) const \
                { \
                        MRPT_START; \
                        if (i>=m_particles.size()) THROW_EXCEPTION_CUSTOM_MSG1("Index %i is out of range!",(int)i); \
                        return m_particles[i].log_w; \
                        MRPT_END; \
                } \
                virtual void setW(size_t i, double w) \
                { \
                        MRPT_START; \
                        if (i>=m_particles.size()) THROW_EXCEPTION_CUSTOM_MSG1("Index %i is out of range!",(int)i); \
                        m_particles[i].log_w = w; \
                        MRPT_END; \
                } \
                virtual size_t particlesCount() const { return m_particles.size(); } \
                virtual double normalizeWeights( double *out_max_log_w = NULL ) \
                { \
                        MRPT_START; \
                        CParticleList::iterator it;\
                        \
                        if (!m_particles.size()) return 0; \
                        double  minW,maxW; \
                        minW = maxW = m_particles[0].log_w; \
                        /* Compute the max/min of weights: */ \
                        for (it=m_particles.begin();it!=m_particles.end();it++) \
                        { \
                                maxW = std::max<double>( maxW, it->log_w ); \
                                minW = std::min<double>( minW, it->log_w ); \
                        } \
                        /* Normalize: */ \
                        for (it=m_particles.begin();it!=m_particles.end();it++) \
                                it->log_w -= maxW; \
                        if (out_max_log_w) \
                                *out_max_log_w = maxW; \
                        /* Return the max/min ratio: */ \
                        return exp(maxW-minW); \
                        MRPT_END; \
                } \
                virtual double ESS() \
                { \
                        MRPT_START; \
                        CParticleList::iterator it; \
                        double  cum = 0; \
                        \
                        /* Sum of weights: */ \
                        double sumLinearWeights = 0; \
                        for (it=m_particles.begin();it!=m_particles.end();it++) \
                                sumLinearWeights += exp( it->log_w  ); \
                        /* Compute ESS: */ \
                        for (it=m_particles.begin();it!=m_particles.end();it++) \
                                cum+= utils::square( exp( it->log_w ) / sumLinearWeights ); \
                        \
                        if (cum==0) \
                                        return 0; \
                        else    return 1.0/(m_particles.size()*cum); \
                        MRPT_END; \
                } \
                /** 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.*/ \
                virtual void  performSubstitution( const std::vector<size_t> &indx) \
                {  \
                        MRPT_START; \
                        CParticleList                       parts; \
                        CParticleList::iterator                 itDest,itSrc; \
                        size_t                                                                  M_old = m_particles.size(); \
                        size_t                                                                  i,j,lastIndxOld = 0; \
                        std::vector<bool>                                               oldParticlesReused(M_old,false); \
                        std::vector<bool>::const_iterator               oldPartIt; \
                        std::vector<size_t>                                             sorted_indx(indx); \
                        std::vector<size_t>::iterator                   sort_idx_it; \
                        /* Assure the input index is sorted: */ \
                        std::sort( sorted_indx.begin(), sorted_indx.end() ); \
                        /* Set the new size: */ \
                        parts.resize( sorted_indx.size() ); \
                        for (i=0,itDest=parts.begin();itDest!=parts.end();i++,itDest++) \
                        { \
                                const size_t    sorted_idx = sorted_indx[i]; \
                                itDest->log_w = m_particles[ sorted_idx ].log_w; \
                                /* We can safely delete old m_particles from [lastIndxOld,indx[i]-1] (inclusive): */  \
                                for (j=lastIndxOld;j<sorted_idx;j++) \
                                { \
                                        if (!oldParticlesReused[j])     /* If reused we can not delete that memory! */ \
                                        { \
                                                delete m_particles[j].d; \
                                                m_particles[j].d = NULL; \
                                        } \
                                } \
                                /* For the next iteration:*/ \
                                lastIndxOld = sorted_idx; \
                                /* If this is the first time that the old particle "indx[i]" appears, */ \
                                /*  we can reuse the old "data" instead of creating a new copy: */ \
                                if (!oldParticlesReused[sorted_idx]) \
                                { \
                                        /* Reuse the data from the particle: */ \
                                        parts[i].d = m_particles[ sorted_idx ].d; \
                                        oldParticlesReused[sorted_idx]=true; \
                                } \
                                else \
                                { \
                                        /* Make a copy of the particle's data: */ \
                                        ASSERT_( m_particles[ sorted_idx ].d != NULL); \
                                        parts[i].d = new T( *m_particles[ sorted_idx ].d ); \
                                } \
                        } \
                        /* Free memory of unused particles */ \
                        for (itSrc=m_particles.begin(),oldPartIt=oldParticlesReused.begin();itSrc!=m_particles.end();itSrc++,oldPartIt++) \
                                if (! *oldPartIt ) \
                                { \
                                        delete itSrc->d; \
                                        itSrc->d = NULL; \
                                } \
                        /* Copy the pointers only to the final destination */ \
                        m_particles.resize( parts.size() ); \
                        for (itSrc=parts.begin(),itDest=m_particles.begin(); itSrc!=parts.end(); itSrc++, itDest++ ) \
                        { \
                                itDest->log_w = itSrc->log_w; \
                                itDest->d = itSrc->d; \
                                itSrc->d = NULL; \
                        } \
                        parts.clear(); \
                        MRPT_END; \
                } \

        } // end namespace
} // end namespace
#endif

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