mrpt::hmtslam::CLSLAM_RBPF_2DLASER Class Reference

Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More...

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAM_RBPF_2DLASER:

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Collaboration diagram for mrpt::hmtslam::CLSLAM_RBPF_2DLASER:

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List of all members.

Classes
struct	TPathBin
	Auxiliary structure. More...
Public Member Functions
	CLSLAM_RBPF_2DLASER (CHMTSLAM *parent)
	Constructor.
virtual	~CLSLAM_RBPF_2DLASER ()
	Destructor.
void	processOneLMH (CLocalMetricHypothesis *LMH, const CActionCollectionPtr &act, const CSensoryFramePtr &sf)
	Main entry point from HMT-SLAM: process some actions & observations.
void	prediction_and_update_pfAuxiliaryPFOptimal (CLocalMetricHypothesis *LMH, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	The PF algorithm implementation.
void	prediction_and_update_pfOptimalProposal (CLocalMetricHypothesis *LMH, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	The PF algorithm implementation.
Protected Member Functions
void	loadTPathBinFromPath (TPathBin &outBin, std::map< TPoseID, CPose3D > *path=NULL, CPose2D *newPose=NULL)
	Fills out a "TPathBin" variable, given a path hypotesis and (if not set to NULL) a new pose appended at the end, using the KLD params in "options".
int	findTPathBinIntoSet (TPathBin &desiredBin, std::deque< TPathBin > &theSet)
	Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found.
Static Protected Member Functions
static double	particlesEvaluator_AuxPFOptimal (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
	Auxiliary function used in "prediction_and_update_pfAuxiliaryPFOptimal".
static double	auxiliarComputeObservationLikelihood (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t particleIndexForMap, const CSensoryFrame *observation, const CPose2D *x)
	Auxiliary function that evaluates the likelihood of an observation, given a robot pose, and according to the options in "CPosePDFParticles::options".
Protected Attributes
bool	m_insertNewRobotPose
	For use within PF callback methods.
Friends
class HMTSLAM_IMPEXP	CLocalMetricHypothesis

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Detailed Description

Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.

This class is used internally in mrpt::slam::CHMTSLAM

Definition at line 555 of file CHMTSLAM.h.

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Constructor & Destructor Documentation

mrpt::hmtslam::CLSLAM_RBPF_2DLASER::CLSLAM_RBPF_2DLASER

(

CHMTSLAM *

parent

)

Constructor.

virtual mrpt::hmtslam::CLSLAM_RBPF_2DLASER::~CLSLAM_RBPF_2DLASER

(

)

[virtual]

Destructor.

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Member Function Documentation

static double mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const CParticleFilterCapable *	obj,
		size_t	particleIndexForMap,
		const CSensoryFrame *	observation,
		const CPose2D *	x
	)			[static, protected]

Auxiliary function that evaluates the likelihood of an observation, given a robot pose, and according to the options in "CPosePDFParticles::options".

int mrpt::hmtslam::CLSLAM_RBPF_2DLASER::findTPathBinIntoSet	(	TPathBin &	desiredBin,
		std::deque< TPathBin > &	theSet
	)			[protected]

Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found.

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath	(	TPathBin &	outBin,
		std::map< TPoseID, CPose3D > *	path = NULL,
		CPose2D *	newPose = NULL
	)			[protected]

Fills out a "TPathBin" variable, given a path hypotesis and (if not set to NULL) a new pose appended at the end, using the KLD params in "options".

static double mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal	(	const bayes::CParticleFilter::TParticleFilterOptions &	PF_options,
		const CParticleFilterCapable *	obj,
		size_t	index,
		const void *	action,
		const void *	observation
	)			[static, protected]

Auxiliary function used in "prediction_and_update_pfAuxiliaryPFOptimal".

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal	(	CLocalMetricHypothesis *	LMH,
		const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)			[virtual]

The PF algorithm implementation.

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal	(	CLocalMetricHypothesis *	LMH,
		const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)			[virtual]

The PF algorithm implementation.

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH	(	CLocalMetricHypothesis *	LMH,
		const CActionCollectionPtr &	act,
		const CSensoryFramePtr &	sf
	)			[virtual]

Main entry point from HMT-SLAM: process some actions & observations.

The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.

Parameters:

	LMH	The local metric hypothesis which must be updated by this SLAM algorithm.
	act	The action to process (or NULL).
	sf	The observations to process (or NULL).

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.

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Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CLocalMetricHypothesis [friend]

Reimplemented from mrpt::hmtslam::CLSLAMAlgorithmBase.

Definition at line 557 of file CHMTSLAM.h.

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Member Data Documentation

bool mrpt::hmtslam::CLSLAM_RBPF_2DLASER::m_insertNewRobotPose [protected]

For use within PF callback methods.

Definition at line 597 of file CHMTSLAM.h.