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<title>The MRPT project: mrpt::slam::CMonteCarloLocalization2D Class Reference</title>
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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html">CMonteCarloLocalization2D</a>
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<h1>mrpt::slam::CMonteCarloLocalization2D Class Reference</h1><!-- doxytag: class="mrpt::slam::CMonteCarloLocalization2D" --><!-- doxytag: inherits="mrpt::poses::CPosePDFParticles,PF_implementation< CPose2D >" -->
<p>Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_monte_carlo_localization2_d_8h_source.html">mrpt/slam/CMonteCarloLocalization2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CMonteCarloLocalization2D:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_monte_carlo_localization2_d_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_monte_carlo_localization2_d_inherit__map" id="mrpt_1_1slam_1_1_c_monte_carlo_localization2_d_inherit__map">
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::slam::CMonteCarloLocalization2D:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d__coll__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_monte_carlo_localization2_d_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1slam_1_1_c_monte_carlo_localization2_d_coll__map" id="mrpt_1_1slam_1_1_c_monte_carlo_localization2_d_coll__map">
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coords="1913,631,2068,660"/><area shape="rect" id="node50" href="classmrpt_1_1poses_1_1_c_pose.html" title="A virtual base class to represent a pose in 2D or 3D." alt="" coords="1279,521,1417,551"/><area shape="rect" id="node75" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose." alt="" coords="1913,511,2068,540"/><area shape="rect" id="node61" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html" title="Represents a probabilistic 2D movement of the robot mobile base." alt="" coords="2492,387,2743,416"/><area shape="rect" id="node69" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options.html" title="The parameter to be passed to "computeFromOdometry"." alt="" coords="1797,409,2184,439"/><area shape="rect" id="node71" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html" title="Options for the Thrun's model, which generates a CPosePDFParticles object 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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#acb3d7588ed20e69b8fd23a0b1e011043">CMonteCarloLocalization2D</a> (size_t M=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#acb3d7588ed20e69b8fd23a0b1e011043"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a5354c522d83d89b5a2a308f66e7304d8">~CMonteCarloLocalization2D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a5354c522d83d89b5a2a308f66e7304d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a7eb506028e19b4f2c7645158528c3baf">resetUniformFreeSpace</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a> *theMap, const double freeCellsThreshold=0.7, const int particlesCount=-1, const double x_min=-1e10f, const double x_max=1e10f, const double y_min=-1e10f, const double y_max=1e10f, const double phi_min=-M_PI, const double phi_max=M_PI)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map. <a href="#a7eb506028e19b4f2c7645158528c3baf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#afb789df37583e3e6fbc28246a38a5ccd">prediction_and_update_pfStandardProposal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Update the m_particles, predicting the posterior of robot pose and map after a movement command. <a href="#afb789df37583e3e6fbc28246a38a5ccd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a3074ce8f8ecf530f127d62924c04a375">prediction_and_update_pfAuxiliaryPFStandard</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Update the m_particles, predicting the posterior of robot pose and map after a movement command. <a href="#a3074ce8f8ecf530f127d62924c04a375"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6315a50c4e8384d6aa5416231072d27c">prediction_and_update_pfAuxiliaryPFOptimal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Update the m_particles, predicting the posterior of robot pose and map after a movement command. <a href="#a6315a50c4e8384d6aa5416231072d27c"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_t_monte_carlo_localization_params.html">TMonteCarloLocalizationParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9">options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">MCL parameters. <a href="#a6f214b5bae4484692a3a21d5ca1981b9"></a><br/></td></tr>
<tr><td colspan="2"><h2>Protected Member Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Virtual methods that the PF_implementations assume exist.</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrp37ba3e62c1fac52db2f7cd78ab44d6be"></a> </p>
</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#ace61034827a83c8794af53600f2fcdf3">getLastPose</a> (const size_t i) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). <a href="#ace61034827a83c8794af53600f2fcdf3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#adade7d520c55a2b47ecf8b1179dab378">PF_SLAM_implementation_custom_update_particle_with_new_pose</a> (<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ab9fd9df44738bcdc3a36fa34af89bbf2">CParticleDataContent</a> *particleData, const <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> &newPose) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#ab786216b1949681dadc7f6b01f67dd4a">PF_SLAM_implementation_replaceByNewParticleSet</a> (<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a85b7ff978a09a6819813a9aa019ec448">CParticleList</a> &old_particles, const vector< <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> > &newParticles, const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &newParticlesWeight, const vector< size_t > &newParticlesDerivedFromIdx) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the default algorithm to efficiently replace one old set of samples by another new set. <a href="#ab786216b1949681dadc7f6b01f67dd4a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a929290d1619d84209ac48761d13d6a92">PF_SLAM_computeObservationLikelihoodForParticle</a> (const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">CParticleFilter::TParticleFilterOptions</a> &PF_options, const size_t particleIndexForMap, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &observation, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate the observation likelihood for one particle at a given location. <a href="#a929290d1619d84209ac48761d13d6a92"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. </p>
<p>This class also implements particle filtering for robot localization. See the MRPT application "app/pf-localization" for an example of usage.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 3D pose...">CMonteCarloLocalization3D</a>, CPose2D, CPosePDF, CPoseGaussianPDF, <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a962214fbf62e0ced82450f032c3b65d9">CParticleFilterCapable</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_monte_carlo_localization2_d_8h_source.html#l00055">55</a> of file <a class="el" href="_c_monte_carlo_localization2_d_8h_source.html">CMonteCarloLocalization2D.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="acb3d7588ed20e69b8fd23a0b1e011043"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D" ref="acb3d7588ed20e69b8fd23a0b1e011043" args="(size_t M=1)" -->
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<td class="memname">mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D </td>
<td>(</td>
<td class="paramtype">size_t </td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>M</em> </td><td>The number of m_particles. </td></tr>
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<a class="anchor" id="a5354c522d83d89b5a2a308f66e7304d8"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::~CMonteCarloLocalization2D" ref="a5354c522d83d89b5a2a308f66e7304d8" args="()" -->
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<td class="memname">virtual mrpt::slam::CMonteCarloLocalization2D::~CMonteCarloLocalization2D </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ace61034827a83c8794af53600f2fcdf3"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::getLastPose" ref="ace61034827a83c8794af53600f2fcdf3" args="(const size_t i) const " -->
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<td class="memname">const <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a>* mrpt::slam::CMonteCarloLocalization2D::getLastPose </td>
<td>(</td>
<td class="paramtype">const size_t </td>
<td class="paramname"> <em>i</em></td>
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<p>Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_p_f__implementation.html#ad5a3eac78f6262853a2e825cd6d7b421">mrpt::slam::PF_implementation< CPose2D ></a>.</p>
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<a class="anchor" id="a929290d1619d84209ac48761d13d6a92"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle" ref="a929290d1619d84209ac48761d13d6a92" args="(const CParticleFilter::TParticleFilterOptions &PF_options, const size_t particleIndexForMap, const CSensoryFrame &observation, const CPose3D &x) const " -->
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<td class="memname">double mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"> <em>PF_options</em>, </td>
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<td class="paramtype">const size_t </td>
<td class="paramname"> <em>particleIndexForMap</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"> <em>observation</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"> <em>x</em></td><td> </td>
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<p>Evaluate the observation likelihood for one particle at a given location. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_p_f__implementation.html#a21301f5b6fb95049be087949feffdbe5">mrpt::slam::PF_implementation< CPose2D ></a>.</p>
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<a class="anchor" id="adade7d520c55a2b47ecf8b1179dab378"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_implementation_custom_update_particle_with_new_pose" ref="adade7d520c55a2b47ecf8b1179dab378" args="(CParticleDataContent *particleData, const TPose3D &newPose) const " -->
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<td class="memname">void mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_implementation_custom_update_particle_with_new_pose </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ab9fd9df44738bcdc3a36fa34af89bbf2">CParticleDataContent</a> * </td>
<td class="paramname"> <em>particleData</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> & </td>
<td class="paramname"> <em>newPose</em></td><td> </td>
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<a class="anchor" id="ab786216b1949681dadc7f6b01f67dd4a"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_implementation_replaceByNewParticleSet" ref="ab786216b1949681dadc7f6b01f67dd4a" args="(CParticleList &old_particles, const vector< TPose3D > &newParticles, const vector_double &newParticlesWeight, const vector< size_t > &newParticlesDerivedFromIdx) const " -->
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<td class="memname">void mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_implementation_replaceByNewParticleSet </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a85b7ff978a09a6819813a9aa019ec448">CParticleList</a> & </td>
<td class="paramname"> <em>old_particles</em>, </td>
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<td class="paramtype">const vector< <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> > & </td>
<td class="paramname"> <em>newParticles</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>newParticlesWeight</em>, </td>
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<p>This is the default algorithm to efficiently replace one old set of samples by another new set. </p>
<p>The method uses pointers to make fast copies the first time each particle is duplicated, then makes real copies for the next ones.</p>
<p>Note that more efficient specializations might exist for specific particle data structs. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_p_f__implementation.html#a4cc6e01d6db23d2df670144cc15e8cf8">mrpt::slam::PF_implementation< CPose2D ></a>.</p>
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<a class="anchor" id="a6315a50c4e8384d6aa5416231072d27c"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFOptimal" ref="a6315a50c4e8384d6aa5416231072d27c" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFOptimal </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"> <em>action</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"> <em>observation</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"> <em>PF_options</em></td><td> </td>
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<p>Update the m_particles, predicting the posterior of robot pose and map after a movement command. </p>
<p>This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>Action</em> </td><td>This is a pointer to <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a>, containing the pose change the robot has been commanded. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>observation</em> </td><td>This must be a pointer to a <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations"...">CSensoryFrame</a> object, with robot sensed observations.</td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9" title="MCL parameters.">options</a> </dd></dl>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aeeccd563c344607e4cc96272c9817bd8">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a3074ce8f8ecf530f127d62924c04a375"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFStandard" ref="a3074ce8f8ecf530f127d62924c04a375" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfAuxiliaryPFStandard </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"> <em>observation</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"> <em>PF_options</em></td><td> </td>
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<p>Update the m_particles, predicting the posterior of robot pose and map after a movement command. </p>
<p>This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>Action</em> </td><td>This is a pointer to <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a>, containing the pose change the robot has been commanded. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>observation</em> </td><td>This must be a pointer to a <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations"...">CSensoryFrame</a> object, with robot sensed observations.</td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9" title="MCL parameters.">options</a> </dd></dl>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6c3422cab2911965e328101bf240414c">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="afb789df37583e3e6fbc28246a38a5ccd"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::prediction_and_update_pfStandardProposal" ref="afb789df37583e3e6fbc28246a38a5ccd" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"> <em>PF_options</em></td><td> </td>
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<p>Update the m_particles, predicting the posterior of robot pose and map after a movement command. </p>
<p>This method has additional configuration parameters in "options". Performs the update stage of the RBPF, using the sensed Sensorial Frame:</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>action</em> </td><td>This is a pointer to <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a>, containing the pose change the robot has been commanded. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>observation</em> </td><td>This must be a pointer to a <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations"...">CSensoryFrame</a> object, with robot sensed observations.</td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9" title="MCL parameters.">options</a> </dd></dl>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a06f7be77f50468af6e58c5514b911447">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a7eb506028e19b4f2c7645158528c3baf"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace" ref="a7eb506028e19b4f2c7645158528c3baf" args="(COccupancyGridMap2D *theMap, const double freeCellsThreshold=0.7, const int particlesCount=-1, const double x_min=-1e10f, const double x_max=1e10f, const double y_min=-1e10f, const double y_max=1e10f, const double phi_min=-M_PI, const double phi_max=M_PI)" -->
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<p>Reset the PDF to an uniformly distributed one, but only in the free-space of a given 2D occupancy-grid-map. </p>
<p>Orientation is randomly generated in the whole 2*PI range. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>theMap</em> </td><td>The occupancy grid map </td></tr>
<tr><td valign="top"></td><td valign="top"><em>freeCellsThreshold</em> </td><td>The minimum free-probability to consider a cell as empty (default is 0.7) </td></tr>
<tr><td valign="top"></td><td valign="top"><em>particlesCount</em> </td><td>If set to -1 the number of m_particles remains unchanged. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>x_min</em> </td><td>The limits of the area to look for free cells. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>x_max</em> </td><td>The limits of the area to look for free cells. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>y_min</em> </td><td>The limits of the area to look for free cells. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>y_max</em> </td><td>The limits of the area to look for free cells. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>phi_min</em> </td><td>The limits of the area to look for free cells. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>phi_max</em> </td><td>The limits of the area to look for free cells. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>resetDeterm32inistic </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>std::exception</em> </td><td>On any error (no free cell found in map, map=NULL, etc...) </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a6f214b5bae4484692a3a21d5ca1981b9"></a><!-- doxytag: member="mrpt::slam::CMonteCarloLocalization2D::options" ref="a6f214b5bae4484692a3a21d5ca1981b9" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_t_monte_carlo_localization_params.html">TMonteCarloLocalizationParams</a> <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9">mrpt::slam::CMonteCarloLocalization2D::options</a></td>
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<p>MCL parameters. </p>
<p>Definition at line <a class="el" href="_c_monte_carlo_localization2_d_8h_source.html#l00060">60</a> of file <a class="el" href="_c_monte_carlo_localization2_d_8h_source.html">CMonteCarloLocalization2D.h</a>.</p>
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