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9 #ifndef CRangeBearingKFSLAM_H
10 #define CRangeBearingKFSLAM_H
71 mrpt::obs::CActionCollectionPtr &action,
72 mrpt::obs::CSensoryFramePtr &SF );
84 std::vector<mrpt::math::TPoint3D> &out_landmarksPositions,
85 std::map<unsigned int,mrpt::maps::CLandmark::TLandmarkID> &out_landmarkIDs,
100 std::vector<mrpt::math::TPoint3D> &out_landmarksPositions,
101 std::map<unsigned int,mrpt::maps::CLandmark::TLandmarkID> &out_landmarkIDs,
107 this->getCurrentState(q,out_landmarksPositions,out_landmarkIDs,out_fullState,out_fullCovariance);
127 this->getCurrentRobotPose(q);
196 predictions_IDs.clear();
197 newly_inserted_landmarks.clear();
214 return m_last_data_association;
224 parts = m_lastPartitionSet;
259 return &mapPartitioner.options;
265 const std::string &fil,
267 const std::string &styleLandmarks = std::string(
"b"),
268 const std::string &stylePath = std::string(
"r"),
269 const std::string &styleRobot = std::string(
"r") )
const;
292 bool &out_skipPrediction
337 const size_t &idx_landmark_to_predict,
386 const size_t in_obsIdx,
387 const size_t in_idxNewFeat );
401 mrpt::obs::CSensoryFramePtr
m_SF;
Configuration of the algorithm:
void saveMapAndPath2DRepresentationAsMATLABFile(const std::string &fil, float stdCount=3.0f, const std::string &styleLandmarks=std::string("b"), const std::string &stylePath=std::string("r"), const std::string &styleRobot=std::string("r")) const
Save the current state of the filter (robot pose & map) to a MATLAB script which displays all the ele...
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
mrpt::vector_size_t predictions_IDs
mrpt::math::TPoint3D landmark_point_t
Either mrpt::math::TPoint2D or mrpt::math::TPoint3D.
TDataAssociationMetric data_assoc_IC_metric
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
TDataAssociationMethod
Different algorithms for data association, used in mrpt::slam::data_association.
void OnTransitionModel(const KFArray_ACT &in_u, KFArray_VEH &inout_x, bool &out_skipPrediction) const
Implements the transition model .
The results from mrpt::slam::data_association.
bool create_simplemap
Whether to fill m_SFs (default=false)
TDataAssociationMethod data_assoc_method
mrpt::obs::CActionCollectionPtr m_action
Set up by processActionObservation.
void getCurrentRobotPose(mrpt::poses::CPose3DPDFGaussian &out_robotPose) const
Returns the mean & the 6x6 covariance matrix of the robot 6D pose (with rotation as 3 angles).
void getLastPartition(std::vector< vector_uint > &parts)
Return the last partition of the sequence of sensoryframes (it is NOT a partition of the map!...
CIncrementalMapPartitioner mapPartitioner
Used for map partitioning experiments.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
TDataAssociationResults results
void getLastPartitionLandmarksAsIfFixedSubmaps(size_t K, std::vector< vector_uint > &landmarksMembership)
For testing only: returns the partitioning as "getLastPartitionLandmarks" but as if a fixed-size subm...
void OnTransitionNoise(KFMatrix_VxV &out_Q) const
Implements the transition noise covariance .
mrpt::aligned_containers< KFArray_OBS >::vector_t vector_KFArray_OBS
void OnTransitionJacobian(KFMatrix_VxV &out_F) const
Implements the transition Jacobian .
void reset()
Reset the state of the SLAM filter: The map is emptied and the robot put back to (0,...
TDataAssociationMetric
Different metrics for data association, used in mrpt::slam::data_association For a comparison of both...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void getCurrentRobotPose(mrpt::poses::CPose3DQuatPDFGaussian &out_robotPose) const
Returns the mean & the 7x7 covariance matrix of the robot 6D pose (with rotation as a quaternion).
double data_assoc_IC_ml_threshold
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const
Returns a 3D representation of the landmarks in the map and the robot 3D position according to the cu...
void OnObservationModel(const vector_size_t &idx_landmarks_to_predict, vector_KFArray_OBS &out_predictions) const
Implements the observation prediction .
const TDataAssocInfo & getLastDataAssociation() const
Returns a read-only reference to the information on the last data-association.
mrpt::obs::CSensoryFramePtr m_SF
Set up by processActionObservation.
void reconsiderPartitionsNow()
The partitioning of the entire map is recomputed again.
mrpt::poses::CPose3DQuat getCurrentRobotPoseMean() const
Get the current robot pose mean, as a 3D+quaternion pose.
void getCurrentState(mrpt::poses::CPose3DPDFGaussian &out_robotPose, std::vector< mrpt::math::TPoint3D > &out_landmarksPositions, std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID > &out_landmarkIDs, mrpt::math::CVectorDouble &out_fullState, mrpt::math::CMatrixDouble &out_fullCovariance) const
Returns the complete mean and cov.
TDataAssocInfo m_last_data_association
Last data association.
std::vector< vector_uint > m_lastPartitionSet
double data_assoc_IC_chi2_thres
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and obser...
void OnNormalizeStateVector()
This method is called after the prediction and after the update, to give the user an opportunity to n...
CRangeBearingKFSLAM()
Constructor.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void OnNewLandmarkAddedToMap(const size_t in_obsIdx, const size_t in_idxNewFeat)
If applicable to the given problem, do here any special handling of adding a new landmark to the map.
void OnInverseObservationModel(const KFArray_OBS &in_z, KFArray_FEAT &out_yn, KFMatrix_FxV &out_dyn_dxv, KFMatrix_FxO &out_dyn_dhn) const
If applicable to the given problem, this method implements the inverse observation model needed to ex...
void OnGetAction(KFArray_ACT &out_u) const
Must return the action vector u.
void getLastPartitionLandmarks(std::vector< vector_uint > &landmarksMembership) const
Return the partitioning of the landmarks in clusters accoring to the last partition.
TOptions()
Default values.
TDataAssociationMetric data_assoc_metric
float std_odo_z_additional
Additional std.
Information for data-association:
CArrayNumeric is an array for numeric types supporting several mathematical operations (actually,...
double computeOffDiagonalBlocksApproximationError(const std::vector< vector_uint > &landmarksMembership) const
Computes the ratio of the missing information matrix elements which are ignored under a certain parti...
void OnSubstractObservationVectors(KFArray_OBS &A, const KFArray_OBS &B) const
Computes A=A-B, which may need to be re-implemented depending on the topology of the individual scala...
std::map< size_t, size_t > newly_inserted_landmarks
Map from the 0-based index within the last observation and the landmark 0-based index in the map (the...
void OnPreComputingPredictions(const vector_KFArray_OBS &in_all_prediction_means, vector_size_t &out_LM_indices_to_predict) const
This will be called before OnGetObservationsAndDataAssociation to allow the application to reduce the...
A numeric matrix of compile-time fixed size.
void OnObservationJacobians(const size_t &idx_landmark_to_predict, KFMatrix_OxV &Hx, KFMatrix_OxF &Hy) const
Implements the observation Jacobians and (when applicable) .
CIncrementalMapPartitioner::TOptions * mapPartitionOptions()
Provides access to the parameters of the map partitioning algorithm.
std::vector< int32_t > vector_int
void OnGetObservationNoise(KFMatrix_OxO &out_R) const
Return the observation NOISE covariance matrix, that is, the model of the Gaussian additive noise of ...
This class can be used to make partitions on a map/graph build from observations taken at some poses/...
The options for the algorithm.
An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose,...
mrpt::utils::bimap< mrpt::maps::CLandmark::TLandmarkID, unsigned int > m_IDs
The mapping between landmark IDs and indexes in the Pkk cov.
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
bool force_ignore_odometry
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)
mrpt::math::CMatrixTemplateNumeric< kftype > Y_pred_means
mrpt::maps::CSimpleMap m_SFs
The sequence of all the observations and the robot path (kept for debugging, statistics,...
mrpt::math::CVectorFloat stds_Q_no_odo
A 7-length vector with the std.
void getCurrentState(mrpt::poses::CPose3DQuatPDFGaussian &out_robotPose, std::vector< mrpt::math::TPoint3D > &out_landmarksPositions, std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID > &out_landmarkIDs, mrpt::math::CVectorDouble &out_fullState, mrpt::math::CMatrixDouble &out_fullCovariance) const
Returns the complete mean and cov.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
void loadOptions(const mrpt::utils::CConfigFileBase &ini)
Load options from a ini-like file/text.
std::vector< size_t > vector_size_t
int partitioningMethod
Applicable only if "doPartitioningExperiment=true".
void OnGetObservationsAndDataAssociation(vector_KFArray_OBS &out_z, vector_int &out_data_association, const vector_KFArray_OBS &in_all_predictions, const KFMatrix &in_S, const vector_size_t &in_lm_indices_in_S, const KFMatrix_OxO &in_R)
This is called between the KF prediction step and the update step, and the application must return th...
Virtual base for Kalman Filter (EKF,IEKF,UKF) implementations.
void processActionObservation(mrpt::obs::CActionCollectionPtr &action, mrpt::obs::CSensoryFramePtr &SF)
Process one new action and observations to update the map and robot pose estimate.
@ UNINITIALIZED_QUATERNION
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
float quantiles_3D_representation
Default = 3.
mrpt::poses::CPose3DQuat getIncrementFromOdometry() const
Return the last odometry, as a pose increment.
virtual ~CRangeBearingKFSLAM()
Destructor:
bool doPartitioningExperiment
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod...
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