9#ifndef CMetricMapBuilderRBPF_H
10#define CMetricMapBuilderRBPF_H
165 observationsInserted(false)
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).
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,...
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.
float localizeAngDistance
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...
float insertionAngDistance
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.
double getCurrentJointEntropy()
This virtual class defines the interface of any object accepting drawing primitives on it.
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...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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.
TConstructionOptions()
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,...
float insertionLinDistance
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.
mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions
mrpt::maps::TSetOfMetricMapInitializers mapsInitializers
float localizeAngDistance
float insertionAngDistance
float localizeLinDistance
This structure will hold stats after each execution of processActionObservation.
bool observationsInserted
Whether the SF has been inserted in the metric maps.