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<div class="title">CMonteCarloLocalization2D.h</div> </div>
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<a href="_c_monte_carlo_localization2_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMonteCarloLocalization2D_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMonteCarloLocalization2D_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_particles_8h.html">mrpt/poses/CPosePDFParticles.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_p_f__implementations__data_8h.html">mrpt/slam/PF_implementations_data.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_t_monte_carlo_localization_params_8h.html">mrpt/slam/TMonteCarloLocalizationParams.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html">mrpt/slam/link_pragmas.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** \ingroup mrpt_slam_grp */</span>
<a name="l00040"></a>00040 <span class="keyword">namespace </span>slam
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">class </span>COccupancyGridMap2D;
<a name="l00043"></a>00043 <span class="keyword">class </span>CSensoryFrame;
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>mrpt::bayes;
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples.</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * This class also implements particle filtering for robot localization. See the MRPT</span>
<a name="l00052"></a>00052 <span class="comment"> * application "app/pf-localization" for an example of usage.</span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * \sa CMonteCarloLocalization3D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable</span>
<a name="l00055"></a>00055 <span class="comment"> * \ingroup mrpt_slam_grp</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a>00057 <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">CMonteCarloLocalization2D</a> :
<a name="l00058"></a>00058 <span class="keyword">public</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">CPosePDFParticles</a>,
<a name="l00059"></a>00059 <span class="keyword">public</span> <a class="code" href="classmrpt_1_1slam_1_1_p_f__implementation.html" title="A set of common data shared by PF implementations for both SLAM and localization.">PF_implementation</a><CPose2D,CMonteCarloLocalization2D>
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <span class="keyword">public</span>:
<a name="l00062"></a><a class="code" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9">00062</a> <a class="code" href="structmrpt_1_1slam_1_1_t_monte_carlo_localization_params.html" title="The struct for passing extra simulation parameters to the prediction stage when running a particle fi...">TMonteCarloLocalizationParams</a> <a class="code" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6f214b5bae4484692a3a21d5ca1981b9" title="MCL parameters.">options</a>; <span class="comment">//!< MCL parameters</span>
<a name="l00063"></a>00063 <span class="comment"></span><span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Constructor</span>
<a name="l00065"></a>00065 <span class="comment"> * \param M The number of m_particles.</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 <a class="code" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">CMonteCarloLocalization2D</a>( <span class="keywordtype">size_t</span> M = 1 );
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** Destructor */</span>
<a name="l00070"></a>00070 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">CMonteCarloLocalization2D</a>();
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Reset the PDF to an uniformly distributed one, but only in the free-space</span>
<a name="l00073"></a>00073 <span class="comment"> * of a given 2D occupancy-grid-map. Orientation is randomly generated in the whole 2*PI range.</span>
<a name="l00074"></a>00074 <span class="comment"> * \param theMap The occupancy grid map</span>
<a name="l00075"></a>00075 <span class="comment"> * \param freeCellsThreshold The minimum free-probability to consider a cell as empty (default is 0.7)</span>
<a name="l00076"></a>00076 <span class="comment"> * \param particlesCount If set to -1 the number of m_particles remains unchanged.</span>
<a name="l00077"></a>00077 <span class="comment"> * \param x_min The limits of the area to look for free cells.</span>
<a name="l00078"></a>00078 <span class="comment"> * \param x_max The limits of the area to look for free cells.</span>
<a name="l00079"></a>00079 <span class="comment"> * \param y_min The limits of the area to look for free cells.</span>
<a name="l00080"></a>00080 <span class="comment"> * \param y_max The limits of the area to look for free cells.</span>
<a name="l00081"></a>00081 <span class="comment"> * \param phi_min The limits of the area to look for free cells.</span>
<a name="l00082"></a>00082 <span class="comment"> * \param phi_max The limits of the area to look for free cells.</span>
<a name="l00083"></a>00083 <span class="comment"> * \sa resetDeterm32inistic</span>
<a name="l00084"></a>00084 <span class="comment"> * \exception std::exception On any error (no free cell found in map, map=NULL, etc...)</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a>00086 <span class="keywordtype">void</span> resetUniformFreeSpace(
<a name="l00087"></a>00087 <a class="code" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html" title="A class for storing an occupancy grid map.">COccupancyGridMap2D</a> *theMap,
<a name="l00088"></a>00088 <span class="keyword">const</span> <span class="keywordtype">double</span> freeCellsThreshold = 0.7,
<a name="l00089"></a>00089 <span class="keyword">const</span> <span class="keywordtype">int</span> particlesCount = -1,
<a name="l00090"></a>00090 <span class="keyword">const</span> <span class="keywordtype">double</span> x_min = -1e10f,
<a name="l00091"></a>00091 <span class="keyword">const</span> <span class="keywordtype">double</span> x_max = 1e10f,
<a name="l00092"></a>00092 <span class="keyword">const</span> <span class="keywordtype">double</span> y_min = -1e10f,
<a name="l00093"></a>00093 <span class="keyword">const</span> <span class="keywordtype">double</span> y_max = 1e10f,
<a name="l00094"></a>00094 <span class="keyword">const</span> <span class="keywordtype">double</span> phi_min = -<a class="code" href="mrpt__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>,
<a name="l00095"></a>00095 <span class="keyword">const</span> <span class="keywordtype">double</span> phi_max = <a class="code" href="mrpt__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a> );
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Update the m_particles, predicting the posterior of robot pose and map after a movement command.</span>
<a name="l00098"></a>00098 <span class="comment"> * This method has additional configuration parameters in "options".</span>
<a name="l00099"></a>00099 <span class="comment"> * Performs the update stage of the RBPF, using the sensed CSensoryFrame:</span>
<a name="l00100"></a>00100 <span class="comment"> *</span>
<a name="l00101"></a>00101 <span class="comment"> * \param action This is a pointer to CActionCollection, containing the pose change the robot has been commanded.</span>
<a name="l00102"></a>00102 <span class="comment"> * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations.</span>
<a name="l00103"></a>00103 <span class="comment"> *</span>
<a name="l00104"></a>00104 <span class="comment"> * \sa options</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a>00106 <span class="keywordtype">void</span> prediction_and_update_pfStandardProposal(
<a name="l00107"></a>00107 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">mrpt::slam::CActionCollection</a> * action,
<a name="l00108"></a>00108 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a> * observation,
<a name="l00109"></a>00109 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html" title="The configuration of a particle filter.">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options );
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Update the m_particles, predicting the posterior of robot pose and map after a movement command.</span>
<a name="l00112"></a>00112 <span class="comment"> * This method has additional configuration parameters in "options".</span>
<a name="l00113"></a>00113 <span class="comment"> * Performs the update stage of the RBPF, using the sensed CSensoryFrame:</span>
<a name="l00114"></a>00114 <span class="comment"> *</span>
<a name="l00115"></a>00115 <span class="comment"> * \param Action This is a pointer to CActionCollection, containing the pose change the robot has been commanded.</span>
<a name="l00116"></a>00116 <span class="comment"> * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations.</span>
<a name="l00117"></a>00117 <span class="comment"> *</span>
<a name="l00118"></a>00118 <span class="comment"> * \sa options</span>
<a name="l00119"></a>00119 <span class="comment"> */</span>
<a name="l00120"></a>00120 <span class="keywordtype">void</span> prediction_and_update_pfAuxiliaryPFStandard(
<a name="l00121"></a>00121 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">mrpt::slam::CActionCollection</a> * action,
<a name="l00122"></a>00122 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a> * observation,
<a name="l00123"></a>00123 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html" title="The configuration of a particle filter.">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options );
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Update the m_particles, predicting the posterior of robot pose and map after a movement command.</span>
<a name="l00126"></a>00126 <span class="comment"> * This method has additional configuration parameters in "options".</span>
<a name="l00127"></a>00127 <span class="comment"> * Performs the update stage of the RBPF, using the sensed CSensoryFrame:</span>
<a name="l00128"></a>00128 <span class="comment"> *</span>
<a name="l00129"></a>00129 <span class="comment"> * \param Action This is a pointer to CActionCollection, containing the pose change the robot has been commanded.</span>
<a name="l00130"></a>00130 <span class="comment"> * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations.</span>
<a name="l00131"></a>00131 <span class="comment"> *</span>
<a name="l00132"></a>00132 <span class="comment"> * \sa options</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134 <span class="keywordtype">void</span> prediction_and_update_pfAuxiliaryPFOptimal(
<a name="l00135"></a>00135 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">mrpt::slam::CActionCollection</a> * action,
<a name="l00136"></a>00136 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a> * observation,
<a name="l00137"></a>00137 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html" title="The configuration of a particle filter.">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options );
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="comment">//protected:</span><span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment"> /** \name Virtual methods that the PF_implementations assume exist.</span>
<a name="l00141"></a>00141 <span class="comment"> @{ */</span><span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** Return a pointer to the last robot pose in the i'th particle (or NULL if it's a path and it's empty). */</span>
<a name="l00143"></a>00143 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> * getLastPose(<span class="keyword">const</span> <span class="keywordtype">size_t</span> i) <span class="keyword">const</span>;
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <span class="keywordtype">void</span> PF_SLAM_implementation_custom_update_particle_with_new_pose(
<a name="l00146"></a>00146 <a class="code" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b" title="This is the type inside the corresponding CParticleData class.">CParticleDataContent</a> *particleData,
<a name="l00147"></a>00147 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &newPose) <span class="keyword">const</span>;
<a name="l00148"></a>00148
<a name="l00149"></a>00149 <span class="comment">// We'll redefine this one:</span>
<a name="l00150"></a>00150 <span class="keywordtype">void</span> PF_SLAM_implementation_replaceByNewParticleSet(
<a name="l00151"></a>00151 <a class="code" href="classstd_1_1deque.html">CParticleList</a> &old_particles,
<a name="l00152"></a>00152 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<TPose3D></a> &newParticles,
<a name="l00153"></a>00153 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &newParticlesWeight,
<a name="l00154"></a>00154 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<size_t></a> &newParticlesDerivedFromIdx ) <span class="keyword">const</span>;
<a name="l00155"></a>00155 <span class="comment"></span>
<a name="l00156"></a>00156 <span class="comment"> /** Evaluate the observation likelihood for one particle at a given location */</span>
<a name="l00157"></a>00157 <span class="keywordtype">double</span> PF_SLAM_computeObservationLikelihoodForParticle(
<a name="l00158"></a>00158 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html" title="The configuration of a particle filter.">CParticleFilter::TParticleFilterOptions</a> &PF_options,
<a name="l00159"></a>00159 <span class="keyword">const</span> <span class="keywordtype">size_t</span> particleIndexForMap,
<a name="l00160"></a>00160 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &observation,
<a name="l00161"></a>00161 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &x ) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** @} */</span>
<a name="l00163"></a>00163
<a name="l00164"></a>00164
<a name="l00165"></a>00165 }; <span class="comment">// End of class def.</span>
<a name="l00166"></a>00166
<a name="l00167"></a>00167 } <span class="comment">// End of namespace</span>
<a name="l00168"></a>00168 } <span class="comment">// End of namespace</span>
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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