This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs).
It has a set of particles representing the robot path in nearby poses.
Definition at line 69 of file CLocalMetricHypothesis.h.
#include <mrpt/hmtslam/CLocalMetricHypothesis.h>
Classes | |
struct | TRobotPosesPartitioning |
Used by AA thread. More... | |
Public Types | |
typedef CLSLAMParticleData | CParticleDataContent |
This is the type inside the corresponding CParticleData class. More... | |
typedef CProbabilityParticle< CLSLAMParticleData > | CParticleData |
Use this to refer to each element in the m_particles array. More... | |
typedef std::deque< CParticleData > | CParticleList |
Use this type to refer to the list of particles m_particles. More... | |
typedef double(* | TParticleProbabilityEvaluator) (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation) |
A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CLocalMetricHypothesis (CHMTSLAM *parent=NULL) | |
Constructor (Default param only used from STL classes) More... | |
~CLocalMetricHypothesis () | |
Destructor. More... | |
void | getAs3DScene (mrpt::opengl::CSetOfObjectsPtr &objs) const |
Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. More... | |
void | getMeans (TMapPoseID2Pose3D &outList) const |
Returns the mean of each robot pose in this LMH, as computed from the set of particles. More... | |
void | getPathParticles (std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > &outList) const |
Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More... | |
void | getPoseParticles (const TPoseID &poseID, mrpt::poses::CPose3DPDFParticles &outPDF) const |
Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. More... | |
void | getRelativePose (const TPoseID &reference, const TPoseID &pose, mrpt::poses::CPose3DPDFParticles &outPDF) const |
Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). More... | |
void | dumpAsText (utils::CStringList &st) const |
Describes the LMH in text. More... | |
void | changeCoordinateOrigin (const TPoseID &newOrigin) |
Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. More... | |
void | rebuildMetricMaps () |
Rebuild the metric maps of all particles from the observations and their estimated poses. More... | |
void | clearRobotPoses () |
Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. More... | |
const mrpt::poses::CPose3D * | getCurrentPose (const size_t &particleIdx) const |
Returns the i'th particle hypothesis for the current robot pose. More... | |
mrpt::poses::CPose3D * | getCurrentPose (const size_t &particleIdx) |
Returns the i'th particle hypothesis for the current robot pose. More... | |
void | removeAreaFromLMH (const CHMHMapNode::TNodeID areaID) |
Removes a given area from the LMH: More... | |
void | updateAreaFromLMH (const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false) |
The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. More... | |
void | clearParticles () |
Free the memory of all the particles and reset the array "m_particles" to length zero. More... | |
void | writeParticlesToStream (STREAM &out) const |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). More... | |
void | readParticlesFromStream (STREAM &in) |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). More... | |
void | getWeights (std::vector< double > &out_logWeights) const |
Returns a vector with the sequence of the logaritmic weights of all the samples. More... | |
const CParticleData * | getMostLikelyParticle () const |
Returns the particle with the highest weight. More... | |
const CLocalMetricHypothesis & | derived () const |
CRTP helper method. More... | |
CLocalMetricHypothesis & | derived () |
CRTP helper method. More... | |
double | getW (size_t i) const MRPT_OVERRIDE |
Access to i'th particle (logarithm) weight, where first one is index 0. More... | |
void | setW (size_t i, double w) MRPT_OVERRIDE |
Modifies i'th particle (logarithm) weight, where first one is index 0. More... | |
size_t | particlesCount () const MRPT_OVERRIDE |
Get the m_particles count. More... | |
double | normalizeWeights (double *out_max_log_w=NULL) MRPT_OVERRIDE |
Normalize the (logarithmic) weights, such as the maximum weight is zero. More... | |
double | ESS () const MRPT_OVERRIDE |
Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. More... | |
void | performSubstitution (const std::vector< size_t > &indx) MRPT_OVERRIDE |
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. More... | |
void | prepareFastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void *action=NULL, const void *observation=NULL) const |
Prepares data structures for calling fastDrawSample method next. More... | |
size_t | fastDrawSample (const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const |
Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). More... | |
void | prediction_and_update (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
Performs the prediction stage of the Particle Filter. More... | |
void | performResampling (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, size_t out_particle_count=0) |
Performs a resample of the m_particles, using the method selected in the constructor. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static double | defaultEvaluator (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation) |
The default evaluator function, which simply returns the particle weight. More... | |
static void | computeResampling (CParticleFilter::TParticleResamplingAlgorithm method, const std::vector< double > &in_logWeights, std::vector< size_t > &out_indexes, size_t out_particle_count=0) |
A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. More... | |
static void | log2linearWeights (const std::vector< double > &in_logWeights, std::vector< double > &out_linWeights) |
A static method to compute the linear, normalized (the sum the unity) weights from log-weights. More... | |
Public Attributes | |
synch::CCriticalSection | m_lock |
Critical section for threads signaling they are working with the LMH. More... | |
THypothesisID | m_ID |
The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). More... | |
mrpt::utils::safe_ptr< CHMTSLAM > | m_parent |
For quick access to our parent object. More... | |
TPoseID | m_currentRobotPose |
The current robot pose (its global unique ID) for this hypothesis. More... | |
TNodeIDSet | m_neighbors |
The list of all areas sourronding the current one (this includes the current area itself). More... | |
std::map< TPoseID, CHMHMapNode::TNodeID > | m_nodeIDmemberships |
The hybrid map node membership for each robot pose. More... | |
std::map< TPoseID, mrpt::obs::CSensoryFrame > | m_SFs |
The SF gathered at each robot pose. More... | |
TPoseIDList | m_posesPendingAddPartitioner |
The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. More... | |
TNodeIDList | m_areasPendingTBI |
The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in CHMTSLAM::LSLAM_process_message_from_AA, read in. More... | |
double | m_log_w |
Log-weight of this hypothesis. More... | |
std::vector< std::map< TPoseID, double > > | m_log_w_metric_history |
The historic log-weights of the metric observations inserted in this LMH, for each particle. More... | |
mrpt::obs::CActionRobotMovement2D | m_accumRobotMovement |
Used in CLSLAM_RBPF_2DLASER. More... | |
bool | m_accumRobotMovementIsValid |
Used in CLSLAM_RBPF_2DLASER. More... | |
struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning | m_robotPosesGraph |
CParticleList | m_particles |
The array of particles. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
virtual void | prediction_and_update_pfStandardProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More... | |
virtual void | prediction_and_update_pfAuxiliaryPFStandard (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Virtual methods for Particle Filter implementation (just a wrapper interface, actually implemented in CHMTSLAM::m_LSLAM_method) | |
void | prediction_and_update_pfAuxiliaryPFOptimal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
The PF algorithm implementation. More... | |
void | prediction_and_update_pfOptimalProposal (const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options) |
The PF algorithm implementation. More... | |
Protected Attributes | |
mrpt::math::CVectorDouble | m_pfAuxiliaryPFOptimal_estimatedProb |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
std::vector< double > | m_maxLikelihood |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
mrpt::poses::StdVector_CPose2D | m_movementDraws |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
unsigned int | m_movementDrawsIdx |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
mrpt::poses::StdVector_CPose2D | m_movementDrawMaximumLikelihood |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. More... | |
TFastDrawAuxVars | m_fastDrawAuxiliary |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information. More... | |
Friends | |
class HMTSLAM_IMPEXP | CLSLAM_RBPF_2DLASER |
RTTI stuff | |
typedef CLocalMetricHypothesisPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CLocalMetricHypothesis |
static mrpt::utils::TRuntimeClassId | classCLocalMetricHypothesis |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CLocalMetricHypothesisPtr | Create () |
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inherited |
Use this to refer to each element in the m_particles array.
Definition at line 181 of file CParticleFilterData.h.
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inherited |
This is the type inside the corresponding CParticleData class.
Definition at line 180 of file CParticleFilterData.h.
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inherited |
Use this type to refer to the list of particles m_particles.
Definition at line 182 of file CParticleFilterData.h.
typedef CLocalMetricHypothesisPtr mrpt::hmtslam::CLocalMetricHypothesis::SmartPtr |
A typedef for the associated smart pointer
Definition at line 77 of file CLocalMetricHypothesis.h.
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inherited |
A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample".
The default evaluator function "defaultEvaluator" simply returns the particle weight.
index | This is the index of the particle its probability is being computed. |
action | The value of this is the parameter passed to "prepareFastDrawSample" |
observation | The value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility. |
Definition at line 54 of file CParticleFilterCapable.h.
mrpt::hmtslam::CLocalMetricHypothesis::CLocalMetricHypothesis | ( | CHMTSLAM * | parent = NULL | ) |
Constructor (Default param only used from STL classes)
mrpt::hmtslam::CLocalMetricHypothesis::~CLocalMetricHypothesis | ( | ) |
Destructor.
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staticprotected |
void mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin | ( | const TPoseID & | newOrigin | ) |
Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well.
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inlineinherited |
Free the memory of all the particles and reset the array "m_particles" to length zero.
Definition at line 192 of file CParticleFilterData.h.
void mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses | ( | ) |
Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses.
Sets the number of particles to the initial number according to the PF options, and initialize them with no robot poses & empty metric maps.
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inlineinherited |
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staticinherited |
A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method.
It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling
[in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
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inlinestaticinherited |
The default evaluator function, which simply returns the particle weight.
The action and the observation are declared as "void*" for a greater flexibility.
Definition at line 65 of file CParticleFilterCapable.h.
References mrpt::bayes::CParticleFilterCapable::getW(), and MRPT_UNUSED_PARAM.
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inlineinherited |
CRTP helper method.
Definition at line 34 of file CParticleFilterData.h.
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inlineinherited |
CRTP helper method.
Definition at line 36 of file CParticleFilterData.h.
void mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText | ( | utils::CStringList & | st | ) | const |
Describes the LMH in text.
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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inlinevirtualinherited |
Returns the normalized ESS (Estimated Sample Size), in the range [0,1].
Note that you do NOT need to normalize the weights before calling this.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 78 of file CParticleFilterData.h.
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inherited |
Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm).
This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the Particle Filter tutorial.
NOTES:
void mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene | ( | mrpt::opengl::CSetOfObjectsPtr & | objs | ) | const |
Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to.
The metric maps are not included here for convenience, call m_metricMaps.getAs3DScene(). The previous contents of "objs" will be discarded
const mrpt::poses::CPose3D* mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose | ( | const size_t & | particleIdx | ) | const |
Returns the i'th particle hypothesis for the current robot pose.
mrpt::poses::CPose3D* mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose | ( | const size_t & | particleIdx | ) |
Returns the i'th particle hypothesis for the current robot pose.
void mrpt::hmtslam::CLocalMetricHypothesis::getMeans | ( | TMapPoseID2Pose3D & | outList | ) | const |
Returns the mean of each robot pose in this LMH, as computed from the set of particles.
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inlineinherited |
Returns the particle with the highest weight.
Definition at line 259 of file CParticleFilterData.h.
void mrpt::hmtslam::CLocalMetricHypothesis::getPathParticles | ( | std::map< TPoseID, mrpt::poses::CPose3DPDFParticles > & | outList | ) | const |
Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.
void mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles | ( | const TPoseID & | poseID, |
mrpt::poses::CPose3DPDFParticles & | outPDF | ||
) | const |
Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles.
void mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose | ( | const TPoseID & | reference, |
const TPoseID & | pose, | ||
mrpt::poses::CPose3DPDFParticles & | outPDF | ||
) | const |
Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH).
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
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Access to i'th particle (logarithm) weight, where first one is index 0.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 38 of file CParticleFilterData.h.
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inlineinherited |
Returns a vector with the sequence of the logaritmic weights of all the samples.
Definition at line 246 of file CParticleFilterData.h.
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staticinherited |
A static method to compute the linear, normalized (the sum the unity) weights from log-weights.
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inlinevirtualinherited |
Normalize the (logarithmic) weights, such as the maximum weight is zero.
out_max_log_w | If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w. |
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 55 of file CParticleFilterData.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
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inlinestatic |
Definition at line 77 of file CLocalMetricHypothesis.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
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inline |
Definition at line 77 of file CLocalMetricHypothesis.h.
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inline |
Definition at line 77 of file CLocalMetricHypothesis.h.
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inlinevirtualinherited |
Get the m_particles count.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 50 of file CParticleFilterData.h.
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inherited |
Performs a resample of the m_particles, using the method selected in the constructor.
After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample"
[in] | out_particle_count | The desired number of output particles after resampling; 0 means don't modify the current number. |
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inlinevirtualinherited |
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.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 98 of file CParticleFilterData.h.
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inherited |
Performs the prediction stage of the Particle Filter.
This method simply selects the appropiate protected method according to the particle filter algorithm to run.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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protectedvirtualinherited |
Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented in mrpt::slam::CMonteCarloLocalization2D, and mrpt::slam::CMonteCarloLocalization3D.
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protectedvirtual |
The PF algorithm implementation.
Reimplemented from mrpt::bayes::CParticleFilterCapable.
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protectedvirtualinherited |
Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception).
Reimplemented in mrpt::slam::CMonteCarloLocalization2D, mrpt::maps::CMultiMetricMapPDF, and mrpt::slam::CMonteCarloLocalization3D.
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inherited |
Prepares data structures for calling fastDrawSample method next.
This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see CParticleFilter::TParticleFilterOptions):
The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the Particle Filter tutorial. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inlineinherited |
Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).
Definition at line 226 of file CParticleFilterData.h.
void mrpt::hmtslam::CLocalMetricHypothesis::rebuildMetricMaps | ( | ) |
Rebuild the metric maps of all particles from the observations and their estimated poses.
void mrpt::hmtslam::CLocalMetricHypothesis::removeAreaFromLMH | ( | const CHMHMapNode::TNodeID | areaID | ) |
Removes a given area from the LMH:
The weights of all particles are changed to remove the effects of the removed metric observations.
This method internally calls updateAreaFromLMH
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inlinevirtualinherited |
Modifies i'th particle (logarithm) weight, where first one is index 0.
Implements mrpt::bayes::CParticleFilterCapable.
Definition at line 44 of file CParticleFilterData.h.
void mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH | ( | const CHMHMapNode::TNodeID | areaID, |
bool | eraseSFsFromLMH = false |
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The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin.
If eraseSFsFromLMH=true, the sensoryframes are moved rather than copied to the area, and removed from the LMH.
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inlineinherited |
Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).
Definition at line 211 of file CParticleFilterData.h.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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Definition at line 74 of file CLocalMetricHypothesis.h.
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staticprotected |
Definition at line 77 of file CLocalMetricHypothesis.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CSerializable.h.
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Definition at line 77 of file CLocalMetricHypothesis.h.
mrpt::obs::CActionRobotMovement2D mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement |
Used in CLSLAM_RBPF_2DLASER.
Definition at line 103 of file CLocalMetricHypothesis.h.
bool mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid |
Used in CLSLAM_RBPF_2DLASER.
Definition at line 104 of file CLocalMetricHypothesis.h.
TNodeIDList mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI |
The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in CHMTSLAM::LSLAM_process_message_from_AA, read in.
Definition at line 97 of file CLocalMetricHypothesis.h.
TPoseID mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose |
The current robot pose (its global unique ID) for this hypothesis.
Definition at line 91 of file CLocalMetricHypothesis.h.
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mutableprotectedinherited |
Auxiliary vectors, see CParticleFilterCapable::prepareFastDrawSample for more information.
Definition at line 233 of file CParticleFilterCapable.h.
THypothesisID mrpt::hmtslam::CLocalMetricHypothesis::m_ID |
The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap).
Definition at line 89 of file CLocalMetricHypothesis.h.
synch::CCriticalSection mrpt::hmtslam::CLocalMetricHypothesis::m_lock |
Critical section for threads signaling they are working with the LMH.
Definition at line 88 of file CLocalMetricHypothesis.h.
double mrpt::hmtslam::CLocalMetricHypothesis::m_log_w |
Log-weight of this hypothesis.
Definition at line 99 of file CLocalMetricHypothesis.h.
std::vector<std::map<TPoseID,double> > mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history |
The historic log-weights of the metric observations inserted in this LMH, for each particle.
Definition at line 100 of file CLocalMetricHypothesis.h.
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mutableprotected |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 220 of file CLocalMetricHypothesis.h.
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mutableprotected |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 229 of file CLocalMetricHypothesis.h.
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mutableprotected |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 223 of file CLocalMetricHypothesis.h.
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mutableprotected |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 226 of file CLocalMetricHypothesis.h.
TNodeIDSet mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors |
The list of all areas sourronding the current one (this includes the current area itself).
Definition at line 93 of file CLocalMetricHypothesis.h.
std::map<TPoseID,CHMHMapNode::TNodeID> mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships |
The hybrid map node membership for each robot pose.
Definition at line 94 of file CLocalMetricHypothesis.h.
mrpt::utils::safe_ptr<CHMTSLAM> mrpt::hmtslam::CLocalMetricHypothesis::m_parent |
For quick access to our parent object.
Definition at line 90 of file CLocalMetricHypothesis.h.
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inherited |
The array of particles.
Definition at line 184 of file CParticleFilterData.h.
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mutableprotected |
Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm.
Definition at line 216 of file CLocalMetricHypothesis.h.
TPoseIDList mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner |
The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop.
Definition at line 96 of file CLocalMetricHypothesis.h.
struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph |
std::map<TPoseID,mrpt::obs::CSensoryFrame> mrpt::hmtslam::CLocalMetricHypothesis::m_SFs |
The SF gathered at each robot pose.
Definition at line 95 of file CLocalMetricHypothesis.h.
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