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CMetricMapBuilderRBPF.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CMetricMapBuilderRBPF_H
10#define CMetricMapBuilderRBPF_H
11
15
20
22
23namespace mrpt
24{
25namespace slam
26{
27 /** This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
28 * Internally, the list of particles, each containing a hypothesis for the robot path plus its associated
29 * metric map, is stored in an object of class CMultiMetricMapPDF.
30 *
31 * This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation)
32 * and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood
33 * of observations is the product of the likelihood in the different maps, etc.
34 *
35 * A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options.
36 * Not all the PF algorithms are implemented for all kinds of maps.
37 *
38 * For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the <a href="http://www.mrpt.org/Application:RBPF-SLAM" >wiki page</a>.
39 *
40 * \note Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.
41 * \note Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.
42 * \note Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
43 *
44 * \sa CMetricMap \ingroup metric_slam_grp
45 */
47 {
48 public:
49 /** The map PDF: It includes a path and associated map for each particle. */
51
52 protected:
53 /** The configuration of the particle filter */
55
56 /** Distances (linear and angular) for inserting a new observation into the map. */
57 float insertionLinDistance,insertionAngDistance;
58
59 /** Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). */
60 float localizeLinDistance,localizeAngDistance;
61
62
63 mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization; //!< Traveled distance since last localization update
64 mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate; //!< Traveled distance since last map update
65
66 /** A buffer: memory is actually hold within "mapPDF" */
68
69 public:
70
71 /** Options for building a CMetricMapBuilderRBPF object, passed to the constructor.
72 */
74 {
75 public:
76 /** Constructor */
78 void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
79 void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
80
83
86
88
91 };
92
93 /** Constructor. */
94 CMetricMapBuilderRBPF( const TConstructionOptions &initializationOptions );
95
96 /** This second constructor is created for the situation where a class member needs to be
97of type CMetricMapBuilderRBPF */
99
100 /** Copy Operator. */
102
103 /** Destructor. */
105
106 /** Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. */
109 mrpt::poses::CPosePDF *x0 = NULL
110 );
111
112 /** Clear all elements of the maps.
113 */
114 void clear();
115
116 /** Returns a copy of the current best pose estimation as a pose PDF.
117 */
118 mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation() const;
119
120 /** Returns the current most-likely path estimation (the path associated to the most likely particle).
121 */
122 void getCurrentMostLikelyPath( std::deque<mrpt::math::TPose3D> &outPath ) const;
123
124 /** 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.
125 * \param action The incremental 2D pose change in the robot pose. This value is deterministic.
126 * \param observations The set of observations that robot senses at the new pose.
127 * Statistics will be saved to statsLastIteration
128 */
131 mrpt::obs::CSensoryFrame &observations );
132
133 /** Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
134 */
136
137 /** 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()".
138 */
140
141 /** Returns just how many sensory-frames are stored in the currently build map.
142 */
144
145 /** A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
146 * \param file The output file name
147 * \param formatEMF_BMP Output format = true:EMF, false:BMP
148 */
149 void saveCurrentEstimationToImage(const std::string &file, bool formatEMF_BMP = true);
150
151 /** A useful method for debugging: draws the current map and path hypotheses to a CCanvas */
153
154 /** 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).
155 */
156 void saveCurrentPathEstimationToTextFile( const std::string &fil );
157
159
160 /** This structure will hold stats after each execution of processActionObservation
161 */
163 {
165 observationsInserted(false)
166 { }
167
168 /** Whether the SF has been inserted in the metric maps. */
170
171 };
172
173 /** This structure will hold stats after each execution of processActionObservation */
175
176 }; // End of class def.
177
178 } // End of namespace
179} // End of namespace
180
181#endif
This class stores any customizable set of metric maps.
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
Declares a class for storing a collection of robot actions.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
Definition: CPosePDF.h:40
This virtual class is the base for SLAM implementations.
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
CMetricMapBuilderRBPF(const TConstructionOptions &initializationOptions)
Constructor.
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 drawCurrentEstimationToImage(utils::CCanvas *img)
A useful method for debugging: draws the current map and path hypotheses to a CCanvas
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 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...
mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation() const
Returns a copy of the current best pose estimation as a pose PDF.
unsigned int getCurrentlyBuiltMapSize()
Returns just how many sensory-frames are stored in the currently build map.
mrpt::maps::CMultiMetricMapPDF mapPDF
The map PDF: It includes a path and associated map for each particle.
mrpt::utils::non_copiable_ptr< mrpt::maps::CMultiMetricMap > currentMetricMapEstimation
A buffer: memory is actually hold within "mapPDF".
CMetricMapBuilderRBPF()
This second constructor is created for the situation where a class member needs to be of type CMetric...
virtual ~CMetricMapBuilderRBPF()
Destructor.
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...
TStats m_statsLastIteration
This structure will hold stats after each execution of processActionObservation.
void clear()
Clear all elements of the maps.
bayes::CParticleFilter::TParticleFilterOptions m_PF_options
The configuration of the particle filter.
mrpt::poses::CPose3D odoIncrementSinceLastMapUpdate
Traveled distance since last map update.
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).
mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization
Traveled distance since last localization update.
mrpt::maps::CMultiMetricMap * getCurrentlyBuiltMetricMap()
Returns the map built so far.
This virtual class defines the interface of any object accepting drawing primitives on it.
Definition: CCanvas.h:41
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...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:39
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The configuration of a particle filter.
The struct for passing extra simulation parameters to the prediction/update stage when running a part...
Options for building a CMetricMapBuilderRBPF object, passed to the constructor.
bayes::CParticleFilter::TParticleFilterOptions PF_options
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions
mrpt::maps::TSetOfMetricMapInitializers mapsInitializers
This structure will hold stats after each execution of processActionObservation.
bool observationsInserted
Whether the SF has been inserted in the metric maps.



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