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<h1>pf.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2003</span>
<a name="l00004"></a>00004 <span class="comment"> * Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> * Brian Gerkey </span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="comment">/**************************************************************************</span>
<a name="l00025"></a>00025 <span class="comment"> * Desc: Simple particle filter for localization.</span>
<a name="l00026"></a>00026 <span class="comment"> * Author: Andrew Howard</span>
<a name="l00027"></a>00027 <span class="comment"> * Date: 10 Dec 2002</span>
<a name="l00028"></a>00028 <span class="comment"> * CVS: $Id: pf.h 8108 2009-07-23 23:03:37Z thjc $</span>
<a name="l00029"></a>00029 <span class="comment"> *************************************************************************/</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PF_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PF_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "pf_vector.h"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "pf_kdtree.h"</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00039"></a>00039 <span class="preprocessor">#endif</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041 <span class="comment">// Forward declarations</span>
<a name="l00042"></a>00042 <span class="keyword">struct </span><a class="code" href="struct__pf__t.html">_pf_t</a>;
<a name="l00043"></a>00043 <span class="keyword">struct </span>_rtk_fig_t;
<a name="l00044"></a>00044 <span class="keyword">struct </span><a class="code" href="struct__pf__sample__set__t.html">_pf_sample_set_t</a>;
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">// Function prototype for the initialization model; generates a sample pose from</span>
<a name="l00047"></a>00047 <span class="comment">// an appropriate distribution.</span>
<a name="l00048"></a>00048 <span class="keyword">typedef</span> <a class="code" href="structpf__vector__t.html">pf_vector_t</a> (*pf_init_model_fn_t) (<span class="keywordtype">void</span> *init_data);
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="comment">// Function prototype for the action model; generates a sample pose from</span>
<a name="l00051"></a>00051 <span class="comment">// an appropriate distribution</span>
<a name="l00052"></a>00052 <span class="keyword">typedef</span> void (*pf_action_model_fn_t) (<span class="keywordtype">void</span> *action_data,
<a name="l00053"></a>00053 <span class="keyword">struct </span><a class="code" href="struct__pf__sample__set__t.html">_pf_sample_set_t</a>* <span class="keyword">set</span>);
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">// Function prototype for the sensor model; determines the probability</span>
<a name="l00056"></a>00056 <span class="comment">// for the given set of sample poses.</span>
<a name="l00057"></a>00057 <span class="keyword">typedef</span> double (*pf_sensor_model_fn_t) (<span class="keywordtype">void</span> *sensor_data,
<a name="l00058"></a>00058 <span class="keyword">struct </span><a class="code" href="struct__pf__sample__set__t.html">_pf_sample_set_t</a>* <span class="keyword">set</span>);
<a name="l00059"></a>00059
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="comment">// Information for a single sample</span>
<a name="l00062"></a><a class="code" href="structpf__sample__t.html">00062</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="comment">// Pose represented by this sample</span>
<a name="l00065"></a>00065 <a class="code" href="structpf__vector__t.html">pf_vector_t</a> pose;
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <span class="comment">// Weight for this pose</span>
<a name="l00068"></a>00068 <span class="keywordtype">double</span> weight;
<a name="l00069"></a>00069
<a name="l00070"></a>00070 } <a class="code" href="structpf__sample__t.html">pf_sample_t</a>;
<a name="l00071"></a>00071
<a name="l00072"></a>00072
<a name="l00073"></a>00073 <span class="comment">// Information for a cluster of samples</span>
<a name="l00074"></a><a class="code" href="structpf__cluster__t.html">00074</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="comment">// Number of samples</span>
<a name="l00077"></a>00077 <span class="keywordtype">int</span> count;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment">// Total weight of samples in this cluster</span>
<a name="l00080"></a>00080 <span class="keywordtype">double</span> weight;
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="comment">// Cluster statistics</span>
<a name="l00083"></a>00083 <a class="code" href="structpf__vector__t.html">pf_vector_t</a> mean;
<a name="l00084"></a>00084 <a class="code" href="structpf__matrix__t.html">pf_matrix_t</a> cov;
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="comment">// Workspace</span>
<a name="l00087"></a>00087 <span class="keywordtype">double</span> m[4], c[2][2];
<a name="l00088"></a>00088
<a name="l00089"></a>00089 } <a class="code" href="structpf__cluster__t.html">pf_cluster_t</a>;
<a name="l00090"></a>00090
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">// Information for a set of samples</span>
<a name="l00093"></a><a class="code" href="struct__pf__sample__set__t.html">00093</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__pf__sample__set__t.html">_pf_sample_set_t</a>
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="comment">// The samples</span>
<a name="l00096"></a>00096 <span class="keywordtype">int</span> sample_count;
<a name="l00097"></a>00097 <a class="code" href="structpf__sample__t.html">pf_sample_t</a> *samples;
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="comment">// A kdtree encoding the histogram</span>
<a name="l00100"></a>00100 <a class="code" href="structpf__kdtree__t.html">pf_kdtree_t</a> *kdtree;
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">// Clusters</span>
<a name="l00103"></a>00103 <span class="keywordtype">int</span> cluster_count, cluster_max_count;
<a name="l00104"></a>00104 <a class="code" href="structpf__cluster__t.html">pf_cluster_t</a> *clusters;
<a name="l00105"></a>00105
<a name="l00106"></a>00106 } <a class="code" href="struct__pf__sample__set__t.html">pf_sample_set_t</a>;
<a name="l00107"></a>00107
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="comment">// Information for an entire filter</span>
<a name="l00110"></a><a class="code" href="struct__pf__t.html">00110</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__pf__t.html">_pf_t</a>
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 <span class="comment">// This min and max number of samples</span>
<a name="l00113"></a>00113 <span class="keywordtype">int</span> min_samples, max_samples;
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">// Population size parameters</span>
<a name="l00116"></a>00116 <span class="keywordtype">double</span> pop_err, pop_z;
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="comment">// The sample sets. We keep two sets and use [current_set]</span>
<a name="l00119"></a>00119 <span class="comment">// to identify the active set.</span>
<a name="l00120"></a>00120 <span class="keywordtype">int</span> current_set;
<a name="l00121"></a>00121 <a class="code" href="struct__pf__sample__set__t.html">pf_sample_set_t</a> sets[2];
<a name="l00122"></a>00122
<a name="l00123"></a>00123 } <a class="code" href="struct__pf__t.html">pf_t</a>;
<a name="l00124"></a>00124
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">// Create a new filter</span>
<a name="l00127"></a>00127 <a class="code" href="struct__pf__t.html">pf_t</a> *pf_alloc(<span class="keywordtype">int</span> min_samples, <span class="keywordtype">int</span> max_samples);
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="comment">// Free an existing filter</span>
<a name="l00130"></a>00130 <span class="keywordtype">void</span> pf_free(<a class="code" href="struct__pf__t.html">pf_t</a> *pf);
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="comment">// Initialize the filter using a guassian</span>
<a name="l00133"></a>00133 <span class="keywordtype">void</span> pf_init(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <a class="code" href="structpf__vector__t.html">pf_vector_t</a> mean, <a class="code" href="structpf__matrix__t.html">pf_matrix_t</a> cov);
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="comment">// Initialize the filter using some model</span>
<a name="l00136"></a>00136 <span class="keywordtype">void</span> pf_init_model(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, pf_init_model_fn_t init_fn, <span class="keywordtype">void</span> *init_data);
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="comment">// Update the filter with some new action</span>
<a name="l00139"></a>00139 <span class="keywordtype">void</span> pf_update_action(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, pf_action_model_fn_t action_fn, <span class="keywordtype">void</span> *action_data);
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="comment">// Update the filter with some new sensor observation</span>
<a name="l00142"></a>00142 <span class="keywordtype">void</span> pf_update_sensor(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, pf_sensor_model_fn_t sensor_fn, <span class="keywordtype">void</span> *sensor_data);
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="comment">// Resample the distribution</span>
<a name="l00145"></a>00145 <span class="keywordtype">void</span> pf_update_resample(<a class="code" href="struct__pf__t.html">pf_t</a> *pf);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">// Compute the CEP statistics (mean and variance).</span>
<a name="l00148"></a>00148 <span class="keywordtype">void</span> pf_get_cep_stats(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <a class="code" href="structpf__vector__t.html">pf_vector_t</a> *mean, <span class="keywordtype">double</span> *var);
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="comment">// Compute the statistics for a particular cluster. Returns 0 if</span>
<a name="l00151"></a>00151 <span class="comment">// there is no such cluster.</span>
<a name="l00152"></a>00152 <span class="keywordtype">int</span> pf_get_cluster_stats(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <span class="keywordtype">int</span> cluster, <span class="keywordtype">double</span> *weight,
<a name="l00153"></a>00153 <a class="code" href="structpf__vector__t.html">pf_vector_t</a> *mean, <a class="code" href="structpf__matrix__t.html">pf_matrix_t</a> *cov);
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="comment">// Display the sample set</span>
<a name="l00156"></a>00156 <span class="keywordtype">void</span> pf_draw_samples(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <span class="keyword">struct</span> _rtk_fig_t *fig, <span class="keywordtype">int</span> max_samples);
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="comment">// Draw the histogram (kdtree)</span>
<a name="l00159"></a>00159 <span class="keywordtype">void</span> pf_draw_hist(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <span class="keyword">struct</span> _rtk_fig_t *fig);
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">// Draw the CEP statistics</span>
<a name="l00162"></a>00162 <span class="keywordtype">void</span> pf_draw_cep_stats(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <span class="keyword">struct</span> _rtk_fig_t *fig);
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment">// Draw the cluster statistics</span>
<a name="l00165"></a>00165 <span class="keywordtype">void</span> pf_draw_cluster_stats(<a class="code" href="struct__pf__t.html">pf_t</a> *pf, <span class="keyword">struct</span> _rtk_fig_t *fig);
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00168"></a>00168 <span class="preprocessor"></span>}
<a name="l00169"></a>00169 <span class="preprocessor">#endif</span>
<a name="l00170"></a>00170 <span class="preprocessor"></span>
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="preprocessor">#endif</span>
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