#include <mrpt/slam/CMetricMapBuilderRBPF.h>
Classes | |
struct | TConstructionOptions |
Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More... | |
struct | TStats |
This structure will hold stats after each execution of processActionObservation. More... | |
Public Member Functions | |
CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions) | |
Constructor. | |
virtual | ~CMetricMapBuilderRBPF () |
Destructor. | |
void | initialize (CSensFrameProbSequence &initialMap, CPosePDF *x0=NULL) |
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. | |
void | clear () |
Clear all elements of the maps. | |
CPose3DPDFPtr | getCurrentPoseEstimation () const |
Returns a copy of the current best pose estimation as a pose PDF. | |
void | getCurrentMostLikelyPath (std::deque< CPose2D > &outPath) const |
Returns the current most-likely path estimation (the path associated to the most likely particle). | |
void | getCurrentMostLikelyPath (std::deque< TPose3D > &outPath) const |
Returns the current most-likely path estimation (the path associated to the most likely particle). | |
void | processActionObservation (CActionCollection &action, CSensoryFrame &observations) |
Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. | |
void | getCurrentlyBuiltMap (CSensFrameProbSequence &out_map) const |
Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map. | |
CMultiMetricMap * | getCurrentlyBuiltMetricMap () |
Returns the map built so far. | |
unsigned int | getCurrentlyBuiltMapSize () |
Returns just how many sensorial frames are stored in the currently build map. | |
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. | |
void | drawCurrentEstimationToImage (utils::CCanvas *img) |
A usefull method for debugging: draws the current map and path hypotheses to a CCanvas. | |
void | saveCurrentPathEstimationToTextFile (std::string fil) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). | |
double | getCurrentJointEntropy () |
Public Attributes | |
CMultiMetricMapPDF | mapPDF |
The map PDF: It includes a path and associated map for each particle. | |
TStats | m_statsLastIteration |
This structure will hold stats after each execution of processActionObservation. | |
Protected Attributes | |
bayes::CParticleFilter::TParticleFilterOptions | m_PF_options |
The configuration of the particle filter:. | |
float | insertionLinDistance |
Distances (linear and angular) for inserting a new observation into the map. | |
float | insertionAngDistance |
mrpt::poses::CPose3DPDFGaussian | odoIncrementSinceLast |
Traveled distance since last processing of the PF. | |
non_copiable_ptr< CMultiMetricMap > | currentMetricMapEstimation |
A buffer: memory is actually hold within "mapPDF". |
Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.
This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.
A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.
For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.
Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
Definition at line 62 of file CMetricMapBuilderRBPF.h.
mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF | ( | const TConstructionOptions & | initializationOptions | ) |
Constructor.
virtual mrpt::slam::CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF | ( | ) | [virtual] |
Destructor.
void mrpt::slam::CMetricMapBuilderRBPF::clear | ( | ) |
void mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage | ( | utils::CCanvas * | img | ) |
A usefull method for debugging: draws the current map and path hypotheses to a CCanvas.
double mrpt::slam::CMetricMapBuilderRBPF::getCurrentJointEntropy | ( | ) |
void mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMap | ( | CSensFrameProbSequence & | out_map | ) | const [virtual] |
Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map.
Implements mrpt::slam::CMetricMapBuilder.
unsigned int mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize | ( | ) | [virtual] |
Returns just how many sensorial frames are stored in the currently build map.
Implements mrpt::slam::CMetricMapBuilder.
CMultiMetricMap* mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap | ( | ) | [virtual] |
Returns the map built so far.
NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".
Implements mrpt::slam::CMetricMapBuilder.
void mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath | ( | std::deque< TPose3D > & | outPath | ) | const |
Returns the current most-likely path estimation (the path associated to the most likely particle).
void mrpt::slam::CMetricMapBuilderRBPF::getCurrentMostLikelyPath | ( | std::deque< CPose2D > & | outPath | ) | const |
Returns the current most-likely path estimation (the path associated to the most likely particle).
This version ignore any 3D pose components. Use the full CPose3D-based version if full 3D data is needed.
CPose3DPDFPtr mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation | ( | ) | const [virtual] |
Returns a copy of the current best pose estimation as a pose PDF.
Implements mrpt::slam::CMetricMapBuilder.
void mrpt::slam::CMetricMapBuilderRBPF::initialize | ( | CSensFrameProbSequence & | initialMap, | |
CPosePDF * | x0 = NULL | |||
) | [virtual] |
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.
Implements mrpt::slam::CMetricMapBuilder.
void mrpt::slam::CMetricMapBuilderRBPF::processActionObservation | ( | CActionCollection & | action, | |
CSensoryFrame & | observations | |||
) | [virtual] |
Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.
action | The incremental 2D pose change in the robot pose. This value is deterministic. | |
observations | The set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration |
Implements mrpt::slam::CMetricMapBuilder.
void mrpt::slam::CMetricMapBuilderRBPF::saveCurrentEstimationToImage | ( | const std::string & | file, | |
bool | formatEMF_BMP = true | |||
) | [virtual] |
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
file | The output file name | |
formatEMF_BMP | Output format = true:EMF, false:BMP |
Implements mrpt::slam::CMetricMapBuilder.
void mrpt::slam::CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile | ( | std::string | fil | ) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).
non_copiable_ptr<CMultiMetricMap> mrpt::slam::CMetricMapBuilderRBPF::currentMetricMapEstimation [protected] |
A buffer: memory is actually hold within "mapPDF".
Definition at line 83 of file CMetricMapBuilderRBPF.h.
float mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance [protected] |
Definition at line 76 of file CMetricMapBuilderRBPF.h.
float mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance [protected] |
Distances (linear and angular) for inserting a new observation into the map.
Definition at line 76 of file CMetricMapBuilderRBPF.h.
This structure will hold stats after each execution of processActionObservation.
Definition at line 200 of file CMetricMapBuilderRBPF.h.
The map PDF: It includes a path and associated map for each particle.
Definition at line 67 of file CMetricMapBuilderRBPF.h.
mrpt::poses::CPose3DPDFGaussian mrpt::slam::CMetricMapBuilderRBPF::odoIncrementSinceLast [protected] |
Traveled distance since last processing of the PF.
Definition at line 79 of file CMetricMapBuilderRBPF.h.
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