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9 #ifndef CMetricMapBuilderRBPF_H
10 #define CMetricMapBuilderRBPF_H
165 observationsInserted(false)
float localizeAngDistance
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.
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
Traveled distance since last map update.
bayes::CParticleFilter::TParticleFilterOptions m_PF_options
The configuration of the particle filter.
bool observationsInserted
Whether the SF has been inserted in the metric maps.
double getCurrentJointEntropy()
float insertionLinDistance
CMetricMapBuilderRBPF(const TConstructionOptions &initializationOptions)
Constructor.
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
Declares a class for storing a collection of robot actions.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void drawCurrentEstimationToImage(utils::CCanvas *img)
A useful method for debugging: draws the current map and path hypotheses to a CCanvas
void clear()
Clear all elements of the maps.
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
TStats m_statsLastIteration
This structure will hold stats after each execution of processActionObservation.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation() const
Returns a copy of the current best pose estimation as a pose PDF.
virtual ~CMetricMapBuilderRBPF()
Destructor.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
Traveled distance since last localization update.
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...
bayes::CParticleFilter::TParticleFilterOptions PF_options
This class stores any customizable set of metric maps.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
mrpt::maps::CMultiMetricMap * getCurrentlyBuiltMetricMap()
Returns the map built so far.
void initialize(const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), mrpt::poses::CPosePDF *x0=NULL)
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmod...
mrpt::maps::TSetOfMetricMapInitializers mapsInitializers
mrpt::utils::non_copiable_ptr< mrpt::maps::CMultiMetricMap > currentMetricMapEstimation
A buffer: memory is actually hold within "mapPDF".
float localizeLinDistance
Distances (linear and angular) for updating the robot pose estimate (and particles weighs,...
This virtual class defines the interface of any object accepting drawing primitives on it.
float insertionLinDistance
Distances (linear and angular) for inserting a new observation into the map.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
TConstructionOptions()
Constructor.
void saveCurrentPathEstimationToTextFile(const std::string &fil)
A logging utility: saves the current path estimation for each particle in a text file (a row per part...
void getCurrentMostLikelyPath(std::deque< mrpt::math::TPose3D > &outPath) const
Returns the current most-likely path estimation (the path associated to the most likely particle).
CMetricMapBuilderRBPF()
This second constructor is created for the situation where a class member needs to be of type CMetric...
void saveCurrentEstimationToImage(const std::string &file, bool formatEMF_BMP=true)
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
float localizeLinDistance
This structure will hold stats after each execution of processActionObservation.
The struct for passing extra simulation parameters to the prediction/update stage when running a part...
void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap &out_map) const
Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
void processActionObservation(mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)
Appends a new action and observations to update this map: See the description of the class at the top...
Options for building a CMetricMapBuilderRBPF object, passed to the constructor.
This virtual class is the base for SLAM implementations.
mrpt::maps::CMultiMetricMapPDF mapPDF
The map PDF: It includes a path and associated map for each particle.
The configuration of a particle filter.
float insertionAngDistance
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
unsigned int getCurrentlyBuiltMapSize()
Returns just how many sensory-frames are stored in the currently build map.
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