<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>CMonteCarloLocalization3D.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">CMonteCarloLocalization3D.h</div> </div> </div> <div class="contents"> <a href="_c_monte_carlo_localization3_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 CMonteCarloLocalization3D_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMonteCarloLocalization3D_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_pose3_d_p_d_f_particles_8h.html">mrpt/poses/CPose3DPDFParticles.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 { <a name="l00039"></a>00039 <span class="keyword">namespace </span>slam <a name="l00040"></a>00040 { <a name="l00041"></a>00041 <span class="keyword">class </span>CSensoryFrame; <a name="l00042"></a>00042 <a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt::poses; <a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::slam; <a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::bayes; <a name="l00046"></a>00046 <span class="comment"></span> <a name="l00047"></a>00047 <span class="comment"> /** Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples.</span> <a name="l00048"></a>00048 <span class="comment"> *</span> <a name="l00049"></a>00049 <span class="comment"> * This class also implements particle filtering for robot localization. See the MRPT</span> <a name="l00050"></a>00050 <span class="comment"> * application "app/pf-localization" for an example of usage.</span> <a name="l00051"></a>00051 <span class="comment"> *</span> <a name="l00052"></a>00052 <span class="comment"> * \sa CMonteCarloLocalization2D, CPose2D, CPosePDF, CPoseGaussianPDF, CParticleFilterCapable</span> <a name="l00053"></a>00053 <span class="comment"> * \ingroup mrpt_slam_grp </span> <a name="l00054"></a>00054 <span class="comment"> */</span> <a name="l00055"></a>00055 <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_localization3_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x...">CMonteCarloLocalization3D</a> : <a name="l00056"></a>00056 <span class="keyword">public</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose.">CPose3DPDFParticles</a>, <a name="l00057"></a>00057 <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><CPose3D,CMonteCarloLocalization3D> <a name="l00058"></a>00058 { <a name="l00059"></a>00059 <span class="comment">//template <class PARTICLE_TYPE, class MYSELF> friend class PF_implementation;</span> <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_localization3_d.html#a9953e493bb1399dbd2b2f0ab432efbbe">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_localization3_d.html#a9953e493bb1399dbd2b2f0ab432efbbe" 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_localization3_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x...">CMonteCarloLocalization3D</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_localization3_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x...">CMonteCarloLocalization3D</a>(); <a name="l00071"></a>00071 <span class="comment"></span> <a name="l00072"></a>00072 <span class="comment"> /** Update the m_particles, predicting the posterior of robot pose and map after a movement command.</span> <a name="l00073"></a>00073 <span class="comment"> * This method has additional configuration parameters in "options".</span> <a name="l00074"></a>00074 <span class="comment"> * Performs the update stage of the RBPF, using the sensed CSensoryFrame:</span> <a name="l00075"></a>00075 <span class="comment"> *</span> <a name="l00076"></a>00076 <span class="comment"> * \param action This is a pointer to CActionCollection, containing the pose change the robot has been commanded.</span> <a name="l00077"></a>00077 <span class="comment"> * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations.</span> <a name="l00078"></a>00078 <span class="comment"> *</span> <a name="l00079"></a>00079 <span class="comment"> * \sa options</span> <a name="l00080"></a>00080 <span class="comment"> */</span> <a name="l00081"></a>00081 <span class="keywordtype">void</span> prediction_and_update_pfStandardProposal( <a name="l00082"></a>00082 <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="l00083"></a>00083 <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="l00084"></a>00084 <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="l00085"></a>00085 <span class="comment"></span> <a name="l00086"></a>00086 <span class="comment"> /** Update the m_particles, predicting the posterior of robot pose and map after a movement command.</span> <a name="l00087"></a>00087 <span class="comment"> * This method has additional configuration parameters in "options".</span> <a name="l00088"></a>00088 <span class="comment"> * Performs the update stage of the RBPF, using the sensed CSensoryFrame:</span> <a name="l00089"></a>00089 <span class="comment"> *</span> <a name="l00090"></a>00090 <span class="comment"> * \param Action This is a pointer to CActionCollection, containing the pose change the robot has been commanded.</span> <a name="l00091"></a>00091 <span class="comment"> * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations.</span> <a name="l00092"></a>00092 <span class="comment"> *</span> <a name="l00093"></a>00093 <span class="comment"> * \sa options</span> <a name="l00094"></a>00094 <span class="comment"> */</span> <a name="l00095"></a>00095 <span class="keywordtype">void</span> prediction_and_update_pfAuxiliaryPFStandard( <a name="l00096"></a>00096 <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="l00097"></a>00097 <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="l00098"></a>00098 <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="l00099"></a>00099 <span class="comment"></span> <a name="l00100"></a>00100 <span class="comment"> /** Update the m_particles, predicting the posterior of robot pose and map after a movement command.</span> <a name="l00101"></a>00101 <span class="comment"> * This method has additional configuration parameters in "options".</span> <a name="l00102"></a>00102 <span class="comment"> * Performs the update stage of the RBPF, using the sensed CSensoryFrame:</span> <a name="l00103"></a>00103 <span class="comment"> *</span> <a name="l00104"></a>00104 <span class="comment"> * \param Action This is a pointer to CActionCollection, containing the pose change the robot has been commanded.</span> <a name="l00105"></a>00105 <span class="comment"> * \param observation This must be a pointer to a CSensoryFrame object, with robot sensed observations.</span> <a name="l00106"></a>00106 <span class="comment"> *</span> <a name="l00107"></a>00107 <span class="comment"> * \sa options</span> <a name="l00108"></a>00108 <span class="comment"> */</span> <a name="l00109"></a>00109 <span class="keywordtype">void</span> prediction_and_update_pfAuxiliaryPFOptimal( <a name="l00110"></a>00110 <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="l00111"></a>00111 <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="l00112"></a>00112 <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="l00113"></a>00113 <a name="l00114"></a>00114 <span class="comment">//protected:</span><span class="comment"></span> <a name="l00115"></a>00115 <span class="comment"> /** \name Virtual methods that the PF_implementations assume exist.</span> <a name="l00116"></a>00116 <span class="comment"> @{ */</span><span class="comment"></span> <a name="l00117"></a>00117 <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="l00118"></a>00118 <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="l00119"></a>00119 <a name="l00120"></a>00120 <span class="keywordtype">void</span> PF_SLAM_implementation_custom_update_particle_with_new_pose( <a name="l00121"></a>00121 <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="l00122"></a>00122 <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="l00123"></a>00123 <a name="l00124"></a>00124 <span class="comment">// We'll redefine this one:</span> <a name="l00125"></a>00125 <span class="keywordtype">void</span> PF_SLAM_implementation_replaceByNewParticleSet( <a name="l00126"></a>00126 <a class="code" href="classstd_1_1deque.html">CParticleList</a> &old_particles, <a name="l00127"></a>00127 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<TPose3D></a> &newParticles, <a name="l00128"></a>00128 <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="l00129"></a>00129 <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="l00130"></a>00130 <span class="comment"></span> <a name="l00131"></a>00131 <span class="comment"> /** Evaluate the observation likelihood for one particle at a given location */</span> <a name="l00132"></a>00132 <span class="keywordtype">double</span> PF_SLAM_computeObservationLikelihoodForParticle( <a name="l00133"></a>00133 <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="l00134"></a>00134 <span class="keyword">const</span> <span class="keywordtype">size_t</span> particleIndexForMap, <a name="l00135"></a>00135 <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="l00136"></a>00136 <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="l00137"></a>00137 <span class="comment"> /** @} */</span> <a name="l00138"></a>00138 <a name="l00139"></a>00139 <a name="l00140"></a>00140 }; <span class="comment">// End of class def.</span> <a name="l00141"></a>00141 <a name="l00142"></a>00142 } <span class="comment">// End of namespace</span> <a name="l00143"></a>00143 } <span class="comment">// End of namespace</span> <a name="l00144"></a>00144 <a name="l00145"></a>00145 <span class="preprocessor">#endif</span> </pre></div></div> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>