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PF_implementations_data.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                   http://mrpt.sourceforge.net/                            |
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   |   Copyright (C) 2005-2010  University of Malaga                           |
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   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
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   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
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   +---------------------------------------------------------------------------+ */
#ifndef PF_implementations_data_H
#define PF_implementations_data_H

#include <mrpt/slam/CActionRobotMovement2D.h>
#include <mrpt/bayes/CParticleFilterData.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/poses/CPoseRandomSampler.h>
#include <mrpt/slam/TKLDParams.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
        namespace slam
        {
                using namespace std;
                using namespace mrpt::poses;
                using namespace mrpt::bayes;
                using namespace mrpt::math;


                // Frwd decl:
                template <class PARTICLETYPE, class BINTYPE>
                void KLF_loadBinFromParticle(
                        BINTYPE                         &outBin,
                        const TKLDParams        &opts,
                        const PARTICLETYPE      *currentParticleValue = NULL,
                        const TPose3D           *newPoseToBeInserted = NULL );


                /** A set of common data shared by PF implementations for both SLAM and localization
                  */
                template <class PARTICLE_TYPE>
                class PF_implementation
                {
                public:
                        PF_implementation(
                                        mrpt::bayes::CParticleFilterData<PARTICLE_TYPE> &pfd,
                                        mrpt::bayes::CParticleFilterCapable                             &pfc
                                        ) :
                                m_partdata(pfd),
                                m_pfc(pfc),
                                m_accumRobotMovement2DIsValid(false),
                                m_accumRobotMovement3DIsValid(false)
                        {
                        }

                        typedef mrpt::bayes::CParticleFilterData<PARTICLE_TYPE> BASE;
                        typedef mrpt::bayes::CParticleFilterCapable                             BASE2;

                protected:

                        BASE    &m_partdata;  //!< the particle filter data object, implementing CParticleFilterData<PARTICLE_TYPE>
                        BASE2   &m_pfc;           //!< the particle filter data object, implementing CParticleFilterCapable

                        /** \name Data members and methods used by generic PF implementations
                            @{ */

                        CActionRobotMovement2D  m_accumRobotMovement2D;
                        bool                                    m_accumRobotMovement2DIsValid;
                        CPose3DPDFGaussian              m_accumRobotMovement3D;
                        bool                                    m_accumRobotMovement3DIsValid;

                        CPoseRandomSampler                              m_movementDrawer;                                               //!< Used in al PF implementations. \sa PF_SLAM_implementation_gatherActionsCheckBothActObs
                        mutable vector_double                   m_pfAuxiliaryPFOptimal_estimatedProb;   //!< Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
                        mutable vector_double                   m_pfAuxiliaryPFStandard_estimatedProb;  //!< Auxiliary variable used in the "pfAuxiliaryPFStandard" algorithm.
                        mutable vector_double                   m_pfAuxiliaryPFOptimal_maxLikelihood;                                           //!< Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
                        mutable std::vector<TPose3D>    m_pfAuxiliaryPFOptimal_maxLikDrawnMovement;             //!< Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
                        std::vector<bool>                               m_pfAuxiliaryPFOptimal_maxLikMovementDrawHasBeenUsed;

                        /**  Compute w[i]·p(z_t | mu_t^i), with mu_t^i being
                          *    the mean of the new robot pose
                          *
                          * \param action MUST be a "const CPose3D*"
                          * \param observation MUST be a "const CSensoryFrame*"
                          */
                        template <class BINTYPE> // Template arg. actually not used, just to allow giving the definition in another file later on
                        static double PF_SLAM_particlesEvaluator_AuxPFStandard(
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                const CParticleFilterCapable    *obj,
                                size_t index,
                                const void * action,
                                const void * observation );

                        template <class BINTYPE> // Template arg. actually not used, just to allow giving the definition in another file later on
                        static double  PF_SLAM_particlesEvaluator_AuxPFOptimal(
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                const CParticleFilterCapable    *obj,
                                size_t                                  index,
                                const void                              *action,
                                const void                              *observation );

                        /** @} */

                        /** \name The generic PF implementations for localization & SLAM.
                            @{ */

                        /** A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFOptimal" (optimal sampling with rejection sampling approximation),
                          *  common to both localization and mapping.
                          *
                          * - BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
                          *
                          *  This method implements optimal sampling with a rejection sampling-based approximation of the true posterior.
                          *  For details, see the papers:
                          *
                          *  J.-L. Blanco, J. González, and J.-A. Fernández-Madrigal,
                          *    "An Optimal Filtering Algorithm for Non-Parametric Observation Models in
                          *     Robot Localization," in Proc. IEEE International Conference on Robotics
                          *     and Automation (ICRA'08), 2008, pp. 461–466.
                          */
                        template <class BINTYPE>
                        void PF_SLAM_implementation_pfAuxiliaryPFOptimal(
                                const CActionCollection * actions,
                                const CSensoryFrame             * sf,
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                const TKLDParams &KLD_options);

                        /** A generic implementation of the PF method "prediction_and_update_pfAuxiliaryPFStandard" (Auxiliary particle filter with the standard proposal),
                          *  common to both localization and mapping.
                          *
                          * - BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
                          *
                          *  This method is described in the paper:
                          *   Pitt, M.K.; Shephard, N. (1999). "Filtering Via Simulation: Auxiliary Particle Filters".
                          *    Journal of the American Statistical Association 94 (446): 590–591. doi:10.2307/2670179.
                          *
                          */
                        template <class BINTYPE>
                        void PF_SLAM_implementation_pfAuxiliaryPFStandard(
                                const CActionCollection * actions,
                                const CSensoryFrame             * sf,
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                const TKLDParams &KLD_options);


                        /** A generic implementation of the PF method "pfStandardProposal" (standard proposal distribution, that is, a simple SIS particle filter),
                          *  common to both localization and mapping.
                          *
                          * - BINTYPE: TPoseBin or whatever to discretize the sample space for KLD-sampling.
                          */
                        template <class BINTYPE>
                        void PF_SLAM_implementation_pfStandardProposal(
                                const CActionCollection * actions,
                                const CSensoryFrame             * sf,
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                const TKLDParams &KLD_options);

                        /** @} */


                        /** \name Virtual methods that the PF_implementations assume exist.
                            @{ */

                        /** Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). */
                        virtual const TPose3D * getLastPose(const size_t i) const = 0;

                        virtual void PF_SLAM_implementation_custom_update_particle_with_new_pose(
                                PARTICLE_TYPE *particleData,
                                const TPose3D &newPose) const = 0;

                        /** This is the default algorithm to efficiently replace one old set of samples by another new set.
                          *  The method uses pointers to make fast copies the first time each particle is duplicated, then
                          *   makes real copies for the next ones.
                          *
                          *  Note that more efficient specializations might exist for specific particle data structs.
                          */
                        virtual void PF_SLAM_implementation_replaceByNewParticleSet(
                                typename BASE::CParticleList     &old_particles,
                                const vector<TPose3D>           &newParticles,
                                const vector_double                     &newParticlesWeight,
                                const vector<size_t>            &newParticlesDerivedFromIdx ) const
                        {
                                // ---------------------------------------------------------------------------------
                                // Substitute old by new particle set:
                                //   Old are in "m_particles"
                                //   New are in "newParticles", "newParticlesWeight","newParticlesDerivedFromIdx"
                                // ---------------------------------------------------------------------------------
                                const size_t N = newParticles.size();
                                typename BASE::CParticleList newParticlesArray(N);

                                // For efficiency, just copy the "CParticleData" from the old particle into the
                                //  new one, but this can be done only once:
                                std::vector<bool>       oldParticleAlreadyCopied(old_particles.size(),false);

                                size_t i;
                                typename BASE::CParticleList::iterator  newPartIt;
                                for (newPartIt=newParticlesArray.begin(),i=0;newPartIt!=newParticlesArray.end();newPartIt++,i++)
                                {
                                        // The weight:
                                        newPartIt->log_w = newParticlesWeight[i];

                                        // The data (CParticleData):
                                        PARTICLE_TYPE *newPartData;
                                        if (!oldParticleAlreadyCopied[newParticlesDerivedFromIdx[i]])
                                        {
                                                // The first copy of this old particle:
                                                newPartData = old_particles[ newParticlesDerivedFromIdx[i] ].d;
                                                oldParticleAlreadyCopied[newParticlesDerivedFromIdx[i]] = true;
                                        }
                                        else
                                        {
                                                // Make a copy:
                                                newPartData = new PARTICLE_TYPE( *old_particles[ newParticlesDerivedFromIdx[i] ].d );
                                        }

                                        newPartIt->d = newPartData;
                                } // end for "newPartIt"

                                // Now add the new robot pose to the paths:
                                //  (this MUST be done after the above loop, separately):
                                // Update the particle with the new pose: this part is caller-dependant and must be implemented there:
                                for (newPartIt=newParticlesArray.begin(),i=0;i<N;++newPartIt,++i)
                                        PF_SLAM_implementation_custom_update_particle_with_new_pose( newPartIt->d, newParticles[i] );

                                // Free those old m_particles not being copied into the new ones:
                                for (size_t i=0;i<old_particles.size();i++)
                                        if (!oldParticleAlreadyCopied[i])
                                                mrpt::utils::delete_safe( old_particles[ i ].d );

                                // Copy into "m_particles"
                                old_particles.resize( newParticlesArray.size() );
                                typename BASE::CParticleList::iterator  trgPartIt;
                                for (newPartIt=newParticlesArray.begin(),trgPartIt=old_particles.begin(); newPartIt!=newParticlesArray.end(); ++newPartIt, ++trgPartIt )
                                {
                                        trgPartIt->log_w = newPartIt->log_w;
                                        trgPartIt->d = newPartIt->d;
                                }
                        } // end of PF_SLAM_implementation_replaceByNewParticleSet



                        virtual bool PF_SLAM_implementation_doWeHaveValidObservations(
                                const typename  BASE::CParticleList     &particles,
                                const CSensoryFrame *sf) const
                        {
                                return true;    // By default, always process the SFs.
                        }

                        /** Make a specialization if needed, eg. in the first step in SLAM.  */
                        virtual bool PF_SLAM_implementation_skipRobotMovement() const
                        {
                                return false; // By default, always allow the robot to move!
                        }

                        /** Evaluate the observation likelihood for one particle at a given location */
                        virtual double PF_SLAM_computeObservationLikelihoodForParticle(
                                const CParticleFilter::TParticleFilterOptions   &PF_options,
                                const size_t                    particleIndexForMap,
                                const CSensoryFrame             &observation,
                                const CPose3D                   &x )  const = 0;

                        /** @} */


                /** Auxiliary method called by PF implementations: return true if we have both action & observation,
                  *   otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.
                  *   On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step.
                  *  This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.
                  */
                template <class BINTYPE> // Template arg. actually not used, just to allow giving the definition in another file later on
                bool PF_SLAM_implementation_gatherActionsCheckBothActObs(
                        const CActionCollection * actions,
                        const CSensoryFrame             * sf );

                private:
                        /** The shared implementation body of two PF methods: APF and Optimal-APF, depending on USE_OPTIMAL_SAMPLING */
                        template <class BINTYPE>
                        void PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(
                                const CActionCollection * actions,
                                const CSensoryFrame             * sf,
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                const TKLDParams &KLD_options,
                                const bool USE_OPTIMAL_SAMPLING  );

                        template <class BINTYPE>
                        void PF_SLAM_aux_perform_one_rejection_sampling_step(
                                const bool              USE_OPTIMAL_SAMPLING,
                                const bool              doResample,
                                const double    maxMeanLik,
                                size_t    k, // The particle from the old set "m_particles[]"
                                const CSensoryFrame             * sf,
                                const CParticleFilter::TParticleFilterOptions &PF_options,
                                CPose3D                 & out_newPose,
                                double                  & out_newParticleLogWeight);


                }; // end PF_implementation
        }
}

#endif

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