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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_multi_metric_map_p_d_f.html">CMultiMetricMapPDF</a>
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<h1>mrpt::slam::CMultiMetricMapPDF Class Reference</h1><!-- doxytag: class="mrpt::slam::CMultiMetricMapPDF" --><!-- doxytag: inherits="mrpt::utils::CSerializable,CParticleFilterData< CRBPFParticleData >,mrpt::bayes::CParticleFilterCapable,PF_implementation< CRBPFParticleData >" -->
<p>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).
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">mrpt/slam/CMultiMetricMapPDF.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CMultiMetricMapPDF:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_inherit__map" id="mrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_inherit__map">
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Collaboration diagram for mrpt::slam::CMultiMetricMapPDF:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f__coll__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_coll__map" alt="Collaboration graph"/></div>
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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="2215,383,2465,412"/><area shape="rect" id="node60" 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="1488,337,1875,367"/><area shape="rect" id="node81" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates)." alt="" coords="1608,203,1755,232"/><area shape="rect" id="node83" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html" title="The struct for passing extra simulation parameters to the prediction/update stage..." alt="" coords="2939,1209,3275,1239"/><area shape="rect" id="node85" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from 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shape="rect" id="node107" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps." alt="" coords="3012,893,3201,923"/><area shape="rect" id="node112" href="classmrpt_1_1utils_1_1_c_observable.html" title="Inherit from this class for those objects capable of being observed by a CObserver..." alt="" coords="1600,1044,1763,1073"/></map>
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<p><a href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html">TPredictionParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. <a href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#_details">More...</a><br/></td></tr>
<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_multi_metric_map_p_d_f.html#a1e5e360d612c96f2d326b1a2755aee73">CMultiMetricMapPDF</a> (const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &opts=<a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a>(), const <a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">mrpt::slam::TSetOfMetricMapInitializers</a> *mapsInitializers=NULL, const <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html">TPredictionParams</a> *predictionOptions=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a1e5e360d612c96f2d326b1a2755aee73"></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_multi_metric_map_p_d_f.html#a3e376b13f0fba2802cbd935ebddeeb7b">~CMultiMetricMapPDF</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a3e376b13f0fba2802cbd935ebddeeb7b"></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_multi_metric_map_p_d_f.html#a21c3bc05d9992efab5d4057c57c92a74">clear</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &initialPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear all elements of the maps, and restore all paths to a single starting pose. <a href="#a21c3bc05d9992efab5d4057c57c92a74"></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_multi_metric_map_p_d_f.html#a29bc8d3b759dbe4eac668db62c80523d">clear</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &initialPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear all elements of the maps, and restore all paths to a single starting pose. <a href="#a29bc8d3b759dbe4eac668db62c80523d"></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_multi_metric_map_p_d_f.html#a4e415413988b627291ba135d2cca95ea">getEstimatedPosePDFAtTime</a> (size_t timeStep, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &out_estimation) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. <a href="#a4e415413988b627291ba135d2cca95ea"></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_multi_metric_map_p_d_f.html#a633e8f7f26b3db3b2a71d3c499e3b71e">getEstimatedPosePDF</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &out_estimation) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current estimate of the robot pose, as a particles PDF. <a href="#a633e8f7f26b3db3b2a71d3c499e3b71e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a74f58a03e7ef286e9836de0871ca6d0e">getCurrentMetricMapEstimation</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the weighted averaged map based on the current best estimation. <a href="#a74f58a03e7ef286e9836de0871ca6d0e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a1f8a9100cafd39d418aa19d8e8dc1ca4">getCurrentMostLikelyMetricMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the current most likely map (associated to the most likely particle). <a href="#a1f8a9100cafd39d418aa19d8e8dc1ca4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#ad6ffa07e3e1a3ac0c8fc9f5d39f9c731">getNumberOfObservationsInSimplemap</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of <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> inserted into the internal member SFs. <a href="#ad6ffa07e3e1a3ac0c8fc9f5d39f9c731"></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_multi_metric_map_p_d_f.html#a80af1ab64b451d57a3581de26e882841">insertObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &sf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert an observation to the map, at each particle's pose and to each particle's metric map. <a href="#a80af1ab64b451d57a3581de26e882841"></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_multi_metric_map_p_d_f.html#a411bfe9c6304c9ce04b43fb27079213b">getPath</a> (size_t i, std::deque< <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">math::TPose3D</a> > &out_path) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the path (in absolute coordinate poses) for the i'th particle. <a href="#a411bfe9c6304c9ce04b43fb27079213b"></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_multi_metric_map_p_d_f.html#af493f29585470183bd8802975c1bf392">getCurrentEntropyOfPaths</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#af493f29585470183bd8802975c1bf392"></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_multi_metric_map_p_d_f.html#a17a82ada6b6d9fa4462087f674042c11">getCurrentJointEntropy</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. <a href="#a17a82ada6b6d9fa4462087f674042c11"></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_multi_metric_map_p_d_f.html#a216ac5f1f09e468cc7c2dc43af95885a">updateSensoryFrameSequence</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Update the poses estimation of the member "SFs" according to the current path belief. <a href="#a216ac5f1f09e468cc7c2dc43af95885a"></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_multi_metric_map_p_d_f.html#ac214eaec00e6ab35923b7182be6be821">saveCurrentPathEstimationToTextFile</a> (const std::string &fil)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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). <a href="#ac214eaec00e6ab35923b7182be6be821"></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_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html">mrpt::slam::CMultiMetricMapPDF::TPredictionParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a0798b136b28e00530b61f713966a8ebf">options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. <a href="#a0798b136b28e00530b61f713966a8ebf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#abc7b59753c8bfcaac56d4b2f1b0642fa">newInfoIndex</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An index [0,1] measuring how much information an observation aports to the map (Typ. <a href="#abc7b59753c8bfcaac56d4b2f1b0642fa"></a><br/></td></tr>
<tr><td colspan="2"><h2>Protected Member Functions</h2></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_multi_metric_map_p_d_f.html#a5d0030387ffaf9ec50a17be06e477fb9">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">The PF algorithm implementation. <a href="#a5d0030387ffaf9ec50a17be06e477fb9"></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_multi_metric_map_p_d_f.html#ad4b68096ef09fab2fddac545f2f5cb1a">prediction_and_update_pfOptimalProposal</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">The PF algorithm implementation. <a href="#ad4b68096ef09fab2fddac545f2f5cb1a"></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_multi_metric_map_p_d_f.html#a51d0abaabb4271a42104d52611efdb3a">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">The PF algorithm implementation. <a href="#a51d0abaabb4271a42104d52611efdb3a"></a><br/></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>
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<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_multi_metric_map_p_d_f.html#a9f25e21c756cecff07d78c8e2ad8c3ac">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="#a9f25e21c756cecff07d78c8e2ad8c3ac"></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_multi_metric_map_p_d_f.html#a685a8f4ae4d660cafa8be3913c3703ed">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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a6d9d2f460c3106987cf54e27a8c50456">PF_SLAM_implementation_doWeHaveValidObservations</a> (const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a85b7ff978a09a6819813a9aa019ec448">CParticleList</a> &particles, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> *sf) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a0371055f542e1eebdee2f58df1865f79">PF_SLAM_implementation_skipRobotMovement</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Make a specialization if needed, eg. <a href="#a0371055f542e1eebdee2f58df1865f79"></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_multi_metric_map_p_d_f.html#a847979946f3c5f1f85b03b83a958bd6f">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="#a847979946f3c5f1f85b03b83a958bd6f"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private 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_multi_metric_map_p_d_f.html#a388552b5e0f0d83be6876a194b03daee">IMPLEMENT_PARTICLE_FILTER_CAPABLE</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html">CRBPFParticleData</a>)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a1b5cf6f714c10dd74c1eddf7953093b6">H</a> (float p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Entropy aux. <a href="#a1b5cf6f714c10dd74c1eddf7953093b6"></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_multi_metric_map_p_d_f.html#a33e6ceaf572369201f5c2fc332d8f4a9">rebuildAverageMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the "expected" grid map. <a href="#a33e6ceaf572369201f5c2fc332d8f4a9"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a33a43bfedda3da247bff8843d9def1b8">averageMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal buffer for the averaged map. <a href="#a33a43bfedda3da247bff8843d9def1b8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a964e7eaf8f49bca27283daab7cb3b507">averageMapIsUpdated</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a465c224b60cc171b78fe707b0cd65151">SFs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The SFs and their corresponding pose estimations:. <a href="#a465c224b60cc171b78fe707b0cd65151"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< uint32_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a02868eb23ad1d05fe65e4ae771e7ce26">SF2robotPath</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A mapping between indexes in the SFs to indexes in the robot paths from particles. <a href="#a02868eb23ad1d05fe65e4ae771e7ce26"></a><br/></td></tr>
<tr><td colspan="2"><h2>Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a925d2ed4f5a33eba1a1e213b26ef3868">CMetricMapBuilderRBPF</a></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>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). </p>
<p>This class is used internally by the map building algorithm in "mrpt::slam::CMetricMapBuilderRBPF"</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html" title="This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building...">mrpt::slam::CMetricMapBuilderRBPF</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00077">77</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a1e5e360d612c96f2d326b1a2755aee73"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::CMultiMetricMapPDF" ref="a1e5e360d612c96f2d326b1a2755aee73" args="(const bayes::CParticleFilter::TParticleFilterOptions &opts=bayes::CParticleFilter::TParticleFilterOptions(), const mrpt::slam::TSetOfMetricMapInitializers *mapsInitializers=NULL, const TPredictionParams *predictionOptions=NULL)" -->
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<td class="memname">mrpt::slam::CMultiMetricMapPDF::CMultiMetricMapPDF </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>opts</em> = <code><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a>()</code>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">mrpt::slam::TSetOfMetricMapInitializers</a> * </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html">TPredictionParams</a> * </td>
<td class="paramname"> <em>predictionOptions</em> = <code>NULL</code></td><td> </td>
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<p>Constructor. </p>
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<a class="anchor" id="a3e376b13f0fba2802cbd935ebddeeb7b"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::~CMultiMetricMapPDF" ref="a3e376b13f0fba2802cbd935ebddeeb7b" args="()" -->
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<td class="memname">virtual mrpt::slam::CMultiMetricMapPDF::~CMultiMetricMapPDF </td>
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<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="a29bc8d3b759dbe4eac668db62c80523d"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::clear" ref="a29bc8d3b759dbe4eac668db62c80523d" args="(const CPose3D &initialPose)" -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::clear </td>
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<p>Clear all elements of the maps, and restore all paths to a single starting pose. </p>
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::clear </td>
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<p>Clear all elements of the maps, and restore all paths to a single starting pose. </p>
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<td class="memname">double mrpt::slam::CMultiMetricMapPDF::getCurrentEntropyOfPaths </td>
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<p>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. </p>
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<p>Returns the joint entropy estimation over paths and maps, acording to "Information Gain-based Exploration Using" by C. </p>
<p>Stachniss, G. Grissetti and W.Burgard. </p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a>* mrpt::slam::CMultiMetricMapPDF::getCurrentMetricMapEstimation </td>
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<p>Returns the weighted averaged map based on the current best estimation. </p>
<p>If you need a persistent copy of this object, please use "CSerializable::duplicate" and use the copy. </p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a>* mrpt::slam::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap </td>
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<p>Returns a pointer to the current most likely map (associated to the most likely particle). </p>
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<p>Returns the current estimate of the robot pose, as a particles PDF. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a4e415413988b627291ba135d2cca95ea" title="Returns the estimate of the robot pose as a particles PDF for the instant of time...">getEstimatedPosePDFAtTime</a> </dd></dl>
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::getEstimatedPosePDFAtTime </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"> <em>timeStep</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"> <em>out_estimation</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const</td>
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<p>Returns the estimate of the robot pose as a particles PDF for the instant of time "timeStep", from 0 to N-1. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a633e8f7f26b3db3b2a71d3c499e3b71e" title="Returns the current estimate of the robot pose, as a particles PDF.">getEstimatedPosePDF</a> </dd></dl>
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<a class="anchor" id="a9f25e21c756cecff07d78c8e2ad8c3ac"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::getLastPose" ref="a9f25e21c756cecff07d78c8e2ad8c3ac" 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::CMultiMetricMapPDF::getLastPose </td>
<td>(</td>
<td class="paramtype">const size_t </td>
<td class="paramname"> <em>i</em></td>
<td> ) </td>
<td> const<code> [protected, virtual]</code></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< CRBPFParticleData ></a>.</p>
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<a class="anchor" id="ad6ffa07e3e1a3ac0c8fc9f5d39f9c731"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap" ref="ad6ffa07e3e1a3ac0c8fc9f5d39f9c731" args="() const " -->
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<td class="memname">size_t mrpt::slam::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td> const<code> [inline]</code></td>
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<div class="memdoc">
<p>Get the number of <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> inserted into the internal member SFs. </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00219">219</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="a411bfe9c6304c9ce04b43fb27079213b"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::getPath" ref="a411bfe9c6304c9ce04b43fb27079213b" args="(size_t i, std::deque< math::TPose3D > &out_path) const " -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::getPath </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"> <em>i</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::deque< <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">math::TPose3D</a> > & </td>
<td class="paramname"> <em>out_path</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td> const</td>
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<p>Return the path (in absolute coordinate poses) for the i'th particle. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>On</em> </td><td>index out of bounds </td></tr>
</table>
</dd>
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<a class="anchor" id="a1b5cf6f714c10dd74c1eddf7953093b6"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::H" ref="a1b5cf6f714c10dd74c1eddf7953093b6" args="(float p)" -->
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<td class="memname">float mrpt::slam::CMultiMetricMapPDF::H </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>p</em></td>
<td> ) </td>
<td><code> [private]</code></td>
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<p>Entropy aux. </p>
<p>function </p>
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<a class="anchor" id="a388552b5e0f0d83be6876a194b03daee"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::IMPLEMENT_PARTICLE_FILTER_CAPABLE" ref="a388552b5e0f0d83be6876a194b03daee" args="(CRBPFParticleData)" -->
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<td class="memname">mrpt::slam::CMultiMetricMapPDF::IMPLEMENT_PARTICLE_FILTER_CAPABLE </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html">CRBPFParticleData</a> </td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [private]</code></td>
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<a class="anchor" id="a80af1ab64b451d57a3581de26e882841"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::insertObservation" ref="a80af1ab64b451d57a3581de26e882841" args="(CSensoryFrame &sf)" -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::insertObservation </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"> <em>sf</em></td>
<td> ) </td>
<td></td>
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<p>Insert an observation to the map, at each particle's pose and to each particle's metric map. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>sf</em> </td><td>The SF to be inserted </td></tr>
</table>
</dd>
</dl>
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<a class="anchor" id="a847979946f3c5f1f85b03b83a958bd6f"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle" ref="a847979946f3c5f1f85b03b83a958bd6f" 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::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle </td>
<td>(</td>
<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="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"> <em>particleIndexForMap</em>, </td>
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<td class="paramkey"></td>
<td></td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const<code> [protected, virtual]</code></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< CRBPFParticleData ></a>.</p>
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<a class="anchor" id="a685a8f4ae4d660cafa8be3913c3703ed"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose" ref="a685a8f4ae4d660cafa8be3913c3703ed" args="(CParticleDataContent *particleData, const TPose3D &newPose) const " -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_custom_update_particle_with_new_pose </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const<code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a6d9d2f460c3106987cf54e27a8c50456"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations" ref="a6d9d2f460c3106987cf54e27a8c50456" args="(const CParticleList &particles, const CSensoryFrame *sf) const " -->
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<td class="memname">bool mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_doWeHaveValidObservations </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a85b7ff978a09a6819813a9aa019ec448">CParticleList</a> & </td>
<td class="paramname"> <em>particles</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> * </td>
<td class="paramname"> <em>sf</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const<code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
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<a class="anchor" id="a0371055f542e1eebdee2f58df1865f79"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_skipRobotMovement" ref="a0371055f542e1eebdee2f58df1865f79" args="() const " -->
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<td class="memname">bool mrpt::slam::CMultiMetricMapPDF::PF_SLAM_implementation_skipRobotMovement </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td> const<code> [protected, virtual]</code></td>
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<p>Make a specialization if needed, eg. </p>
<p>in the first step in SLAM. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_p_f__implementation.html#a9f9b577f55d9c6823b3108fd2263c65b">mrpt::slam::PF_implementation< CRBPFParticleData ></a>.</p>
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<a class="anchor" id="a51d0abaabb4271a42104d52611efdb3a"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFOptimal" ref="a51d0abaabb4271a42104d52611efdb3a" 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::CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFOptimal </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [protected, virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<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="ad4b68096ef09fab2fddac545f2f5cb1a"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal" ref="ad4b68096ef09fab2fddac545f2f5cb1a" 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::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [protected, virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0094d5dd370db9a037c67dde87649911">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a5d0030387ffaf9ec50a17be06e477fb9"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::prediction_and_update_pfStandardProposal" ref="a5d0030387ffaf9ec50a17be06e477fb9" 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::CMultiMetricMapPDF::prediction_and_update_pfStandardProposal </td>
<td>(</td>
<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 class="paramkey"></td>
<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="paramkey"></td>
<td></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [protected, virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<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="a33e6ceaf572369201f5c2fc332d8f4a9"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::rebuildAverageMap" ref="a33e6ceaf572369201f5c2fc332d8f4a9" args="()" -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::rebuildAverageMap </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [private]</code></td>
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<p>Rebuild the "expected" grid map. </p>
<p>Used internally, do not call </p>
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<a class="anchor" id="ac214eaec00e6ab35923b7182be6be821"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile" ref="ac214eaec00e6ab35923b7182be6be821" args="(const std::string &fil)" -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile </td>
<td>(</td>
<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>fil</em></td>
<td> ) </td>
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<p>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). </p>
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<a class="anchor" id="a216ac5f1f09e468cc7c2dc43af95885a"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::updateSensoryFrameSequence" ref="a216ac5f1f09e468cc7c2dc43af95885a" args="()" -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::updateSensoryFrameSequence </td>
<td>(</td>
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<td> ) </td>
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<p>Update the poses estimation of the member "SFs" according to the current path belief. </p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a925d2ed4f5a33eba1a1e213b26ef3868"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::CMetricMapBuilderRBPF" ref="a925d2ed4f5a33eba1a1e213b26ef3868" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html">CMetricMapBuilderRBPF</a><code> [friend]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00083">83</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a33a43bfedda3da247bff8843d9def1b8"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::averageMap" ref="a33a43bfedda3da247bff8843d9def1b8" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a33a43bfedda3da247bff8843d9def1b8">mrpt::slam::CMultiMetricMapPDF::averageMap</a><code> [private]</code></td>
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<p>Internal buffer for the averaged map. </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00117">117</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="a964e7eaf8f49bca27283daab7cb3b507"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::averageMapIsUpdated" ref="a964e7eaf8f49bca27283daab7cb3b507" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a964e7eaf8f49bca27283daab7cb3b507">mrpt::slam::CMultiMetricMapPDF::averageMapIsUpdated</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00118">118</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="abc7b59753c8bfcaac56d4b2f1b0642fa"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::newInfoIndex" ref="abc7b59753c8bfcaac56d4b2f1b0642fa" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#abc7b59753c8bfcaac56d4b2f1b0642fa">mrpt::slam::CMultiMetricMapPDF::newInfoIndex</a></td>
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<p>An index [0,1] measuring how much information an observation aports to the map (Typ. </p>
<p>threshold=0.07) </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00249">249</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="a0798b136b28e00530b61f713966a8ebf"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::options" ref="a0798b136b28e00530b61f713966a8ebf" args="" -->
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<td class="memname"> <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html">mrpt::slam::CMultiMetricMapPDF::TPredictionParams</a> <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a0798b136b28e00530b61f713966a8ebf">mrpt::slam::CMultiMetricMapPDF::options</a></td>
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<p>The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
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<a class="anchor" id="a02868eb23ad1d05fe65e4ae771e7ce26"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::SF2robotPath" ref="a02868eb23ad1d05fe65e4ae771e7ce26" args="" -->
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<td class="memname">std::vector<uint32_t> <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a02868eb23ad1d05fe65e4ae771e7ce26">mrpt::slam::CMultiMetricMapPDF::SF2robotPath</a><code> [private]</code></td>
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<p>A mapping between indexes in the SFs to indexes in the robot paths from particles. </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00126">126</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="a465c224b60cc171b78fe707b0cd65151"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::SFs" ref="a465c224b60cc171b78fe707b0cd65151" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a465c224b60cc171b78fe707b0cd65151">mrpt::slam::CMultiMetricMapPDF::SFs</a><code> [private]</code></td>
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<p>The SFs and their corresponding pose estimations:. </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00122">122</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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