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mrpt::hmtslam::CLSLAM_RBPF_2DLASER Class Reference


Detailed Description

Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.

This class is used internally in mrpt::slam::CHMTSLAM

Definition at line 562 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAM_RBPF_2DLASER:
Inheritance graph
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List of all members.

Classes

struct  TPathBin
 Auxiliary structure. More...

Public Member Functions

 CLSLAM_RBPF_2DLASER (CHMTSLAM *parent)
 Constructor.
virtual ~CLSLAM_RBPF_2DLASER ()
 Destructor.
void processOneLMH (CLocalMetricHypothesis *LMH, const CActionCollectionPtr &act, const CSensoryFramePtr &sf)
 Main entry point from HMT-SLAM: process some actions & observations.
void prediction_and_update_pfAuxiliaryPFOptimal (CLocalMetricHypothesis *LMH, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 The PF algorithm implementation.
void prediction_and_update_pfOptimalProposal (CLocalMetricHypothesis *LMH, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
 The PF algorithm implementation.

Protected Member Functions

void loadTPathBinFromPath (TPathBin &outBin, std::map< TPoseID, CPose3D > *path=NULL, CPose2D *newPose=NULL)
 Fills out a "TPathBin" variable, given a path hypotesis and (if not set to NULL) a new pose appended at the end, using the KLD params in "options".
int findTPathBinIntoSet (TPathBin &desiredBin, std::deque< TPathBin > &theSet)
 Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found.

Static Protected Member Functions

static double particlesEvaluator_AuxPFOptimal (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)
 Auxiliary function used in "prediction_and_update_pfAuxiliaryPFOptimal".
static double auxiliarComputeObservationLikelihood (const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t particleIndexForMap, const CSensoryFrame *observation, const CPose2D *x)
 Auxiliary function that evaluates the likelihood of an observation, given a robot pose, and according to the options in "CPosePDFParticles::options".

Protected Attributes

bool m_insertNewRobotPose
 For use within PF callback methods.

Friends

class HMTSLAM_IMPEXP CLocalMetricHypothesis

Constructor & Destructor Documentation

mrpt::hmtslam::CLSLAM_RBPF_2DLASER::CLSLAM_RBPF_2DLASER ( CHMTSLAM parent)

Constructor.

virtual mrpt::hmtslam::CLSLAM_RBPF_2DLASER::~CLSLAM_RBPF_2DLASER ( ) [virtual]

Destructor.


Member Function Documentation

static double mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  particleIndexForMap,
const CSensoryFrame observation,
const CPose2D x 
) [static, protected]

Auxiliary function that evaluates the likelihood of an observation, given a robot pose, and according to the options in "CPosePDFParticles::options".

int mrpt::hmtslam::CLSLAM_RBPF_2DLASER::findTPathBinIntoSet ( TPathBin desiredBin,
std::deque< TPathBin > &  theSet 
) [protected]

Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found.

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath ( TPathBin outBin,
std::map< TPoseID, CPose3D > *  path = NULL,
CPose2D newPose = NULL 
) [protected]

Fills out a "TPathBin" variable, given a path hypotesis and (if not set to NULL) a new pose appended at the end, using the KLD params in "options".

static double mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal ( const bayes::CParticleFilter::TParticleFilterOptions PF_options,
const CParticleFilterCapable obj,
size_t  index,
const void *  action,
const void *  observation 
) [static, protected]

Auxiliary function used in "prediction_and_update_pfAuxiliaryPFOptimal".

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal ( CLocalMetricHypothesis LMH,
const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
) [virtual]

The PF algorithm implementation.

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal ( CLocalMetricHypothesis LMH,
const mrpt::slam::CActionCollection action,
const mrpt::slam::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
) [virtual]

The PF algorithm implementation.

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.

void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH ( CLocalMetricHypothesis LMH,
const CActionCollectionPtr act,
const CSensoryFramePtr sf 
) [virtual]

Main entry point from HMT-SLAM: process some actions & observations.

The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.

Parameters:
LMHThe local metric hypothesis which must be updated by this SLAM algorithm.
actThe action to process (or NULL).
sfThe observations to process (or NULL).

Implements mrpt::hmtslam::CLSLAMAlgorithmBase.


Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CLocalMetricHypothesis [friend]

Reimplemented from mrpt::hmtslam::CLSLAMAlgorithmBase.

Definition at line 564 of file CHMTSLAM.h.


Member Data Documentation

For use within PF callback methods.

Definition at line 604 of file CHMTSLAM.h.




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