00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CMonteCarloLocalization3D_H 00029 #define CMonteCarloLocalization3D_H 00030 00031 #include <mrpt/poses/CPose3DPDFParticles.h> 00032 #include <mrpt/slam/PF_implementations_data.h> 00033 #include <mrpt/slam/TMonteCarloLocalizationParams.h> 00034 00035 #include <mrpt/slam/link_pragmas.h> 00036 00037 namespace mrpt 00038 { 00039 namespace slam 00040 { 00041 class CSensoryFrame; 00042 00043 using namespace mrpt::poses; 00044 using namespace mrpt::slam; 00045 using namespace mrpt::bayes; 00046 00047 /** Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples. 00048 * 00049 * This class also implements particle filtering for robot localization. See the MRPT 00050 * application "app/pf-localization" for an example of usage. 00051 * 00052 * \sa CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable 00053 */ 00054 class SLAM_IMPEXP CMonteCarloLocalization3D : 00055 public CPose3DPDFParticles, 00056 public PF_implementation<CPose3D,CMonteCarloLocalization3D> 00057 { 00058 //template <class PARTICLE_TYPE, class MYSELF> friend class PF_implementation; 00059 00060 public: 00061 TMonteCarloLocalizationParams options; //!< MCL parameters 00062 00063 /** Constructor 00064 * \param M The number of m_particles. 00065 */ 00066 CMonteCarloLocalization3D( size_t M = 1 ); 00067 00068 /** Destructor */ 00069 virtual ~CMonteCarloLocalization3D(); 00070 00071 /** Update the m_particles, predicting the posterior of robot pose and map after a movement command. 00072 * This method has additional configuration parameters in "options". 00073 * Performs the update stage of the RBPF, using the sensed CSensoryFrame: 00074 * 00075 * \param action This is a pointer to CActionCollection, containing the pose change the robot has been commanded. 00076 * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations. 00077 * 00078 * \sa options 00079 */ 00080 void prediction_and_update_pfStandardProposal( 00081 const mrpt::slam::CActionCollection * action, 00082 const mrpt::slam::CSensoryFrame * observation, 00083 const bayes::CParticleFilter::TParticleFilterOptions &PF_options ); 00084 00085 /** Update the m_particles, predicting the posterior of robot pose and map after a movement command. 00086 * This method has additional configuration parameters in "options". 00087 * Performs the update stage of the RBPF, using the sensed CSensoryFrame: 00088 * 00089 * \param Action This is a pointer to CActionCollection, containing the pose change the robot has been commanded. 00090 * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations. 00091 * 00092 * \sa options 00093 */ 00094 void prediction_and_update_pfAuxiliaryPFStandard( 00095 const mrpt::slam::CActionCollection * action, 00096 const mrpt::slam::CSensoryFrame * observation, 00097 const bayes::CParticleFilter::TParticleFilterOptions &PF_options ); 00098 00099 /** Update the m_particles, predicting the posterior of robot pose and map after a movement command. 00100 * This method has additional configuration parameters in "options". 00101 * Performs the update stage of the RBPF, using the sensed CSensoryFrame: 00102 * 00103 * \param Action This is a pointer to CActionCollection, containing the pose change the robot has been commanded. 00104 * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations. 00105 * 00106 * \sa options 00107 */ 00108 void prediction_and_update_pfAuxiliaryPFOptimal( 00109 const mrpt::slam::CActionCollection * action, 00110 const mrpt::slam::CSensoryFrame * observation, 00111 const bayes::CParticleFilter::TParticleFilterOptions &PF_options ); 00112 00113 //protected: 00114 /** \name Virtual methods that the PF_implementations assume exist. 00115 @{ */ 00116 /** Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). */ 00117 const TPose3D * getLastPose(const size_t i) const; 00118 00119 void PF_SLAM_implementation_custom_update_particle_with_new_pose( 00120 CParticleDataContent *particleData, 00121 const TPose3D &newPose) const; 00122 00123 // We'll redefine this one: 00124 void PF_SLAM_implementation_replaceByNewParticleSet( 00125 CParticleList &old_particles, 00126 const std::vector<TPose3D> &newParticles, 00127 const vector_double &newParticlesWeight, 00128 const std::vector<size_t> &newParticlesDerivedFromIdx ) const; 00129 00130 /** Evaluate the observation likelihood for one particle at a given location */ 00131 double PF_SLAM_computeObservationLikelihoodForParticle( 00132 const CParticleFilter::TParticleFilterOptions &PF_options, 00133 const size_t particleIndexForMap, 00134 const CSensoryFrame &observation, 00135 const CPose3D &x ) const; 00136 /** @} */ 00137 00138 00139 }; // End of class def. 00140 00141 } // End of namespace 00142 } // End of namespace 00143 00144 #endif
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