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maps/CMultiMetricMapPDF.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 CMultiMetricMapPDF_H
10 #define CMultiMetricMapPDF_H
11 
13 #include <mrpt/maps/CSimpleMap.h>
16 
18 
21 #include <mrpt/slam/CICP.h>
22 
24 
25 #include <mrpt/slam/link_pragmas.h>
26 
27 namespace mrpt
28 {
29 namespace slam { class CMetricMapBuilderRBPF; }
30 namespace maps
31 {
33 
34  /** Auxiliary class used in mrpt::maps::CMultiMetricMapPDF
35  * \ingroup mrpt_slam_grp
36  */
37  class SLAM_IMPEXP CRBPFParticleData : public mrpt::utils::CSerializable
38  {
39  // This must be added to any CSerializable derived class:
41  public:
42  CRBPFParticleData( const TSetOfMetricMapInitializers *mapsInitializers = NULL ) :
43  mapTillNow( mapsInitializers ),
44  robotPath()
45  {
46  }
47 
49  std::deque<mrpt::math::TPose3D> robotPath;
50  };
52 
53 
55 
56  /** Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications).
57  * This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"
58  *
59  * \sa mrpt::slam::CMetricMapBuilderRBPF
60  * \ingroup metric_slam_grp
61  */
63  public mrpt::utils::CSerializable,
64  public mrpt::bayes::CParticleFilterData<CRBPFParticleData>,
65  public mrpt::bayes::CParticleFilterDataImpl<CMultiMetricMapPDF,mrpt::bayes::CParticleFilterData<CRBPFParticleData>::CParticleList>,
66  public mrpt::slam::PF_implementation<CRBPFParticleData,CMultiMetricMapPDF>
67  {
69 
70  // This must be added to any CSerializable derived class:
71  DEFINE_SERIALIZABLE( CMultiMetricMapPDF )
72 
73  protected:
74  /** The PF algorithm implementation.
75  */
76  void prediction_and_update_pfStandardProposal(
77  const mrpt::obs::CActionCollection * action,
78  const mrpt::obs::CSensoryFrame * observation,
80 
81  /** The PF algorithm implementation.
82  */
83  void prediction_and_update_pfOptimalProposal(
84  const mrpt::obs::CActionCollection * action,
85  const mrpt::obs::CSensoryFrame * observation,
87 
88  /** The PF algorithm implementation.
89  */
90  void prediction_and_update_pfAuxiliaryPFOptimal(
91  const mrpt::obs::CActionCollection * action,
92  const mrpt::obs::CSensoryFrame * observation,
94 
95 
96  private:
97  /** Internal buffer for the averaged map. */
100 
101  /** The SFs and their corresponding pose estimations:
102  */
104 
105  /** A mapping between indexes in the SFs to indexes in the robot paths from particles.
106  */
107  std::vector<uint32_t> SF2robotPath;
108 
109 
110  /** Entropy aux. function
111  */
112  float H(float p);
113 
114  public:
115 
116  /** The struct for passing extra simulation parameters to the prediction/update stage
117  * when running a particle filter.
118  * \sa prediction_and_update
119  */
121  {
122  /** Default settings method */
124 
125  void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
126  void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
127 
128  /** [pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal")
129  * Select the map on which to calculate the optimal
130  * proposal distribution. Values:
131  * 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss' work)
132  * 1: Landmarks -> Uses matching to approximate optimal
133  * 2: Beacons -> Used for exact optimal proposal in RO-SLAM
134  * 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss' work)
135  * Default = 0
136  */
138 
139 
140  /** [prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted. Otherwise, raw odometry is used for those bad cases (default=0.7).
141  */
143 
144  /** [update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.
145  */
147 
149 
150  mrpt::slam::CICP::TConfigParams icp_params; //!< ICP parameters, used only when "PF_algorithm=2" in the particle filter.
151 
152  } options;
153 
154  /** Constructor
155  */
158  const mrpt::maps::TSetOfMetricMapInitializers *mapsInitializers = NULL,
159  const TPredictionParams *predictionOptions = NULL );
160 
161  /** Destructor
162  */
163  virtual ~CMultiMetricMapPDF();
164 
165  /** Clear all elements of the maps, and restore all paths to a single starting pose */
166  void clear( const mrpt::poses::CPose2D &initialPose );
167 
168  /** Clear all elements of the maps, and restore all paths to a single starting pose */
169  void clear( const mrpt::poses::CPose3D &initialPose );
170 
171  /** Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1.
172  * \sa getEstimatedPosePDF
173  */
174  void getEstimatedPosePDFAtTime(
175  size_t timeStep,
176  mrpt::poses::CPose3DPDFParticles &out_estimation ) const;
177 
178  /** Returns the current estimate of the robot pose, as a particles PDF.
179  * \sa getEstimatedPosePDFAtTime
180  */
181  void getEstimatedPosePDF( mrpt::poses::CPose3DPDFParticles &out_estimation ) const;
182 
183  /** Returns the weighted averaged map based on the current best estimation. If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy.
184  */
185  CMultiMetricMap * getCurrentMetricMapEstimation( );
186 
187  /** Returns a pointer to the current most likely map (associated to the most likely particle).
188  */
189  CMultiMetricMap * getCurrentMostLikelyMetricMap( );
190 
191  /** Get the number of CSensoryFrame inserted into the internal member SFs */
192  size_t getNumberOfObservationsInSimplemap() const { return SFs.size(); }
193 
194  /** Insert an observation to the map, at each particle's pose and to each particle's metric map.
195  * \param sf The SF to be inserted
196  */
197  void insertObservation(mrpt::obs::CSensoryFrame &sf);
198 
199  /** Return the path (in absolute coordinate poses) for the i'th particle.
200  * \exception On index out of bounds
201  */
202  void getPath(size_t i, std::deque<math::TPose3D> &out_path) const;
203 
204  /** Returns the current entropy of paths, computed as the average entropy of poses along the path, where entropy of each pose estimation is computed as the entropy of the gaussian approximation covariance.
205  */
206  double getCurrentEntropyOfPaths();
207 
208  /** Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. Stachniss, G. Grissetti and W.Burgard.
209  */
210  double getCurrentJointEntropy();
211 
212  /** Update the poses estimation of the member "SFs" according to the current path belief.
213  */
214  void updateSensoryFrameSequence();
215 
216  /** 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).
217  */
218  void saveCurrentPathEstimationToTextFile( const std::string &fil );
219 
220  /** An index [0,1] measuring how much information an observation aports to the map (Typ. threshold=0.07)
221  */
223 
224  private:
225  /** Rebuild the "expected" grid map. Used internally, do not call
226  */
227  void rebuildAverageMap();
228 
229 
230 
231  public:
232  /** \name Virtual methods that the PF_implementations assume exist.
233  @{ */
234 
235  /** Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). */
236  const mrpt::math::TPose3D * getLastPose(const size_t i) const;
237 
238  void PF_SLAM_implementation_custom_update_particle_with_new_pose(
239  CParticleDataContent *particleData,
240  const mrpt::math::TPose3D &newPose) const;
241 
242  // The base implementation is fine for this class.
243  // void PF_SLAM_implementation_replaceByNewParticleSet( ...
244 
245  bool PF_SLAM_implementation_doWeHaveValidObservations(
246  const CParticleList &particles,
247  const mrpt::obs::CSensoryFrame *sf) const;
248 
249  bool PF_SLAM_implementation_skipRobotMovement() const;
250 
251  /** Evaluate the observation likelihood for one particle at a given location */
252  double PF_SLAM_computeObservationLikelihoodForParticle(
254  const size_t particleIndexForMap,
255  const mrpt::obs::CSensoryFrame &observation,
256  const mrpt::poses::CPose3D &x ) const;
257  /** @} */
258 
259 
260  }; // End of class def.
262 
263  } // End of namespace
264 } // End of namespace
265 
266 #endif
mrpt::maps::CMultiMetricMap averageMap
Internal buffer for the averaged map.
The ICP algorithm configuration data.
Definition: CICP.h:57
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:39
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
mrpt::slam::CICP::TConfigParams icp_params
ICP parameters, used only when "PF_algorithm=2" in the particle filter.
float newInfoIndex
An index [0,1] measuring how much information an observation aports to the map (Typ.
float ICPGlobalAlign_MinQuality
[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum ...
mrpt::maps::CMultiMetricMapPDF CMultiMetricMapPDF
Backward compatible typedef.
Option set for KLD algorithm.
Definition: TKLDParams.h:22
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
Declares a class for storing a collection of robot actions.
This class allows loading and storing values and vectors of different types from a configuration text...
CRBPFParticleData CParticleDataContent
This is the type inside the corresponding CParticleData class.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
COccupancyGridMap2D::TLikelihoodOptions update_gridMapLikelihoodOptions
[update stage] If the likelihood is computed through the occupancy grid map, then this structure is p...
With this struct options are provided to the observation likelihood computation process.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
CRBPFParticleData(const TSetOfMetricMapInitializers *mapsInitializers=NULL)
Auxiliary class used in mrpt::maps::CMultiMetricMapPDF.
size_t size() const
Returns the count of pairs (pose,sensory data)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::maps::CSimpleMap SFs
The SFs and their corresponding pose estimations:
std::deque< CParticleData > CParticleList
Use this type to refer to the list of particles m_particles.
size_t getNumberOfObservationsInSimplemap() const
Get the number of CSensoryFrame inserted into the internal member SFs.
A class used to store a 2D pose.
Definition: CPose2D.h:36
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM)...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
The configuration of a particle filter.
std::deque< mrpt::math::TPose3D > robotPath
The struct for passing extra simulation parameters to the prediction/update stage when running a part...
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
std::vector< uint32_t > SF2robotPath
A mapping between indexes in the SFs to indexes in the robot paths from particles.
int pfOptimalProposal_mapSelection
[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on whic...
This class stores any customizable set of metric maps.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Declares a class that represents a Probability Density function (PDF) of a 3D pose.



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