mrpt::slam::CMonteCarloLocalization2D Class Reference

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

#include <mrpt/slam/CMonteCarloLocalization2D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization2D:

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Collaboration diagram for mrpt::slam::CMonteCarloLocalization2D:

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List of all members.

Public Member Functions
	CMonteCarloLocalization2D (size_t M=1)
	Constructor.
virtual	~CMonteCarloLocalization2D ()
	Destructor.
void	resetUniformFreeSpace (COccupancyGridMap2D *theMap, const double freeCellsThreshold=0.7, const int particlesCount=-1, const double x_min=-1e10f, const double x_max=1e10f, const double y_min=-1e10f, const double y_max=1e10f, const double phi_min=-M_PI, const double phi_max=M_PI)
	Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map.
void	prediction_and_update_pfStandardProposal (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Update the m_particles, predicting the posterior of robot pose and map after a movement command.
void	prediction_and_update_pfAuxiliaryPFStandard (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Update the m_particles, predicting the posterior of robot pose and map after a movement command.
void	prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
	Update the m_particles, predicting the posterior of robot pose and map after a movement command.
Public Attributes
TMonteCarloLocalizationParams	options
	MCL parameters.
Protected Member Functions
Virtual methods that the PF_implementations assume exist.
const TPose3D *	getLastPose (const size_t i) const
	Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty).
void	PF_SLAM_implementation_custom_update_particle_with_new_pose (CParticleDataContent *particleData, const TPose3D &newPose) const
void	PF_SLAM_implementation_replaceByNewParticleSet (CParticleList &old_particles, const vector< TPose3D > &newParticles, const vector_double &newParticlesWeight, const vector< size_t > &newParticlesDerivedFromIdx) const
	This is the default algorithm to efficiently replace one old set of samples by another new set.
double	PF_SLAM_computeObservationLikelihoodForParticle (const CParticleFilter::TParticleFilterOptions &PF_options, const size_t particleIndexForMap, const CSensoryFrame &observation, const CPose3D &x) const
	Evaluate the observation likelihood for one particle at a given location.

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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 also implements particle filtering for robot localization. See the MRPT application "app/pf-localization" for an example of usage.

See also:

CMonteCarloLocalization3D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 55 of file CMonteCarloLocalization2D.h.

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Constructor & Destructor Documentation

mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D

(

size_t

M = 1

)

Constructor.

Parameters:

M

The number of m_particles.

virtual mrpt::slam::CMonteCarloLocalization2D::~CMonteCarloLocalization2D

(

)

[virtual]

Destructor.

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Member Function Documentation

const TPose3D* mrpt::slam::CMonteCarloLocalization2D::getLastPose

(

const size_t

i

)

const [protected, virtual]

Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty).

Implements mrpt::slam::PF_implementation< CPose2D >.

double mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle	(	const CParticleFilter::TParticleFilterOptions &	PF_options,
		const size_t	particleIndexForMap,
		const CSensoryFrame &	observation,
		const CPose3D &	x
	)			const [protected, virtual]

Evaluate the observation likelihood for one particle at a given location.

Implements mrpt::slam::PF_implementation< CPose2D >.

void mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CParticleDataContent *	particleData,
		const TPose3D &	newPose
	)			const [protected]

void mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_implementation_replaceByNewParticleSet	(	CParticleList &	old_particles,
		const vector< TPose3D > &	newParticles,
		const vector_double &	newParticlesWeight,
		const vector< size_t > &	newParticlesDerivedFromIdx
	)			const [protected, virtual]

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.

Reimplemented from mrpt::slam::PF_implementation< CPose2D >.

void mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFOptimal	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)			[virtual]

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:

Parameters:

	Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
	observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also:

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

void mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFStandard	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)			[virtual]

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:

Parameters:

	Action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
	observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also:

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

void mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfStandardProposal	(	const mrpt::slam::CActionCollection *	action,
		const mrpt::slam::CSensoryFrame *	observation,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)			[virtual]

Update the m_particles, predicting the posterior of robot pose and map after a movement command.

This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:

Parameters:

	action	This is a pointer to CActionCollection, containing the pose change the robot has been commanded.
	observation	This must be a pointer to a CSensoryFrame object, with robot sensed observations.

See also:

options

Reimplemented from mrpt::bayes::CParticleFilterCapable.

void mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace	(	COccupancyGridMap2D *	theMap,
		const double	freeCellsThreshold = 0.7,
		const int	particlesCount = -1,
		const double	x_min = -1e10f,
		const double	x_max = 1e10f,
		const double	y_min = -1e10f,
		const double	y_max = 1e10f,
		const double	phi_min = -M_PI,
		const double	phi_max = M_PI
	)

Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map.

Orientation is randomly generated in the whole 2*PI range.

Parameters:

	theMap	The occupancy grid map
	freeCellsThreshold	The minimum free-probability to consider a cell as empty (default is 0.7)
	particlesCount	If set to -1 the number of m_particles remains unchanged.
	x_min	The limits of the area to look for free cells.
	x_max	The limits of the area to look for free cells.
	y_min	The limits of the area to look for free cells.
	y_max	The limits of the area to look for free cells.
	phi_min	The limits of the area to look for free cells.
	phi_max	The limits of the area to look for free cells.

See also:

resetDeterm32inistic

Exceptions:

std::exception

On any error (no free cell found in map, map=NULL, etc...)

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Member Data Documentation

TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization2D::options

MCL parameters.

Definition at line 60 of file CMonteCarloLocalization2D.h.