mrpt::slam::CMonteCarloLocalization3D Class Reference

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Detailed Description

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.

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

See also:

CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable

Definition at line 54 of file CMonteCarloLocalization3D.h.

#include <mrpt/slam/CMonteCarloLocalization3D.h>

Inheritance diagram for mrpt::slam::CMonteCarloLocalization3D:

List of all members.

Public Member Functions
	CMonteCarloLocalization3D (size_t M=1)
	Constructor.
virtual	~CMonteCarloLocalization3D ()
	Destructor.
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.
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 std::vector< TPose3D > &newParticles, const vector_double &newParticlesWeight, const std::vector< size_t > &newParticlesDerivedFromIdx) const
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.
Public Attributes
TMonteCarloLocalizationParams	options
	MCL parameters.

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Constructor & Destructor Documentation

mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D

(

size_t

M = 1 )

Constructor.

Parameters:

M	The number of m_particles.

virtual mrpt::slam::CMonteCarloLocalization3D::~CMonteCarloLocalization3D

(

)

[virtual]

Destructor.

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Member Function Documentation

const TPose3D* mrpt::slam::CMonteCarloLocalization3D::getLastPose

(

const size_t

i )

const [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< CPose3D, CMonteCarloLocalization3D >.

double mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle	(	const CParticleFilter::TParticleFilterOptions &	PF_options,
		const size_t	particleIndexForMap,
		const CSensoryFrame &	observation,
		const CPose3D &	x
	)		const [virtual]

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

Implements mrpt::slam::PF_implementation< CPose3D, CMonteCarloLocalization3D >.

void mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_implementation_custom_update_particle_with_new_pose	(	CParticleDataContent *	particleData,
		const TPose3D &	newPose
	)		const

void mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_implementation_replaceByNewParticleSet	(	CParticleList &	old_particles,
		const std::vector< TPose3D > &	newParticles,
		const vector_double &	newParticlesWeight,
		const std::vector< size_t > &	newParticlesDerivedFromIdx
	)		const

void mrpt::slam::CMonteCarloLocalization3D::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 CSensoryFrame:

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::CMonteCarloLocalization3D::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 CSensoryFrame:

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::CMonteCarloLocalization3D::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 CSensoryFrame:

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.

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Member Data Documentation

TMonteCarloLocalizationParams mrpt::slam::CMonteCarloLocalization3D::options

MCL parameters.

Definition at line 61 of file CMonteCarloLocalization3D.h.