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<div class="title">mrpt::bayes::CParticleFilter Class Reference<div class="ingroups"><a class="el" href="group__mrpt__base__grp.html">[mrpt-base]</a></div></div> </div>
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<!-- doxytag: class="mrpt::bayes::CParticleFilter" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class acts as a common interface to the different interfaces (see <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7" title="Defines different types of particle filter algorithms.">CParticleFilter::TParticleFilterAlgorithm</a>) any <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html" title="This virtual class defines the interface that any particles based PDF class must implement in order t...">bayes::CParticleFilterCapable</a> class can implement: it is the invoker of particle filter algorithms. </p>
<p>The particle filter is executed on a probability density function (PDF) described by a <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html" title="This virtual class defines the interface that any particles based PDF class must implement in order t...">CParticleFilterCapable</a> object, passed in the constructor or alternatively through the <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5398de0d0b207ddcac0cd5828241444c" title="Executes a complete prediction + update step of the selected particle filtering algorithm.">CParticleFilter::executeOn</a> method.<br/>
</p>
<p>For a complete example and further details, see the <a href="http://www.mrpt.org/Particle_Filter_Tutorial">Particle Filter tutorial</a>.</p>
<p>The basic SIR algorithm (pfStandardProposal) consists of:</p>
<ul>
<li>Execute a prediction with the given "action".</li>
<li>Update the weights of the particles using the likelihood of the "observation".</li>
<li>Normalize weights.</li>
<li>Perform resampling if the ESS is below the threshold options.BETA.</li>
</ul>
<dl class="see"><dt><b>See also:</b></dt><dd>mrpt::poses::CPoseParticlesPDF </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_particle_filter_8h_source.html">mrpt/bayes/CParticleFilter.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::bayes::CParticleFilter:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1bayes_1_1_c_particle_filter__inherit__graph.png" border="0" usemap="#mrpt_1_1bayes_1_1_c_particle_filter_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1bayes_1_1_c_particle_filter-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
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_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">TParticleFilterOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The configuration of a particle filter. <a href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_stats.html">TParticleFilterStats</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Statistics for being returned from the "execute" method. <a href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_stats.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7">TParticleFilterAlgorithm</a> { <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7a09e2ccb57a3e839af011e663fbe3a667">pfStandardProposal</a> = 0,
<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7ad2207ecd8d1e42ebee8b2744972603c0">pfAuxiliaryPFStandard</a>,
<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7a4cdfe15977bafe20462beefc906faebf">pfOptimalProposal</a>,
<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7abacc5c8a1d1f0e737ba4e9558fd91de4">pfAuxiliaryPFOptimal</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Defines different types of particle filter algorithms. <a href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">TParticleResamplingAlgorithm</a> { <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154ca6b2c858dc3a007653b879c350a48dca0">prMultinomial</a> = 0,
<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154ca718819b4633782b7d6adc9cc2ebba4bc">prResidual</a>,
<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154ca8747cc68f954ecaea9adddfff1c5f877">prStratified</a>,
<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154ca610313e8aae9c864e57a6ce98272112f">prSystematic</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Defines the different resampling algorithms. <a href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_1bayes_1_1_c_particle_filter.html#a16ef76278459699a9a688ee702849a38">CParticleFilter</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a16ef76278459699a9a688ee702849a38"></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_1bayes_1_1_c_particle_filter.html#a7ecd2a20c5b04b931829e0c81c9c8878">~CParticleFilter</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5398de0d0b207ddcac0cd5828241444c">executeOn</a> (<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> &obj, 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, <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_stats.html">TParticleFilterStats</a> *stats=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Executes a complete prediction + update step of the selected particle filtering algorithm. <a href="#a5398de0d0b207ddcac0cd5828241444c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><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="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a428e336c70f1e76eb987b901feec0a51">m_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The options to be used in the PF, must be set before executing any step of the particle filter. <a href="#a428e336c70f1e76eb987b901feec0a51"></a><br/></td></tr>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="ab53101e2ac73154a4044a9562d20acb7"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterAlgorithm" ref="ab53101e2ac73154a4044a9562d20acb7" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7">mrpt::bayes::CParticleFilter::TParticleFilterAlgorithm</a></td>
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<p>Defines different types of particle filter algorithms. </p>
<p>The defined SIR implementations are:</p>
<ul>
<li>pfStandardProposal: Standard proposal distribution + weights according to likelihood function.</li>
<li>pfAuxiliaryPFStandard: An auxiliary PF using the standard proposal distribution.</li>
<li>pfOptimalProposal: Use the optimal proposal distribution (where available!, usually this will perform approximations)</li>
<li>pfAuxiliaryPFOptimal: Use the optimal proposal and a auxiliary particle filter (see <a href="http://www.mrpt.org/Paper:An_Optimal_Filtering_Algorithm_for_Non-Parametric_Observation_Models_in_Robot_Localization_(ICRA_2008)">paper</a>).</li>
</ul>
<p>See the theoretical discussion in <a href="http://www.mrpt.org/Resampling_Schemes">resampling schemes</a>. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="ab53101e2ac73154a4044a9562d20acb7a09e2ccb57a3e839af011e663fbe3a667"></a><!-- doxytag: member="pfStandardProposal" ref="ab53101e2ac73154a4044a9562d20acb7a09e2ccb57a3e839af011e663fbe3a667" args="" -->pfStandardProposal</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ab53101e2ac73154a4044a9562d20acb7ad2207ecd8d1e42ebee8b2744972603c0"></a><!-- doxytag: member="pfAuxiliaryPFStandard" ref="ab53101e2ac73154a4044a9562d20acb7ad2207ecd8d1e42ebee8b2744972603c0" args="" -->pfAuxiliaryPFStandard</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ab53101e2ac73154a4044a9562d20acb7a4cdfe15977bafe20462beefc906faebf"></a><!-- doxytag: member="pfOptimalProposal" ref="ab53101e2ac73154a4044a9562d20acb7a4cdfe15977bafe20462beefc906faebf" args="" -->pfOptimalProposal</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ab53101e2ac73154a4044a9562d20acb7abacc5c8a1d1f0e737ba4e9558fd91de4"></a><!-- doxytag: member="pfAuxiliaryPFOptimal" ref="ab53101e2ac73154a4044a9562d20acb7abacc5c8a1d1f0e737ba4e9558fd91de4" args="" -->pfAuxiliaryPFOptimal</em> </td><td>
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</dd>
</dl>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00076">76</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
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<a class="anchor" id="a5a2e5c42fba6719b5f2f4b8fa1f4154c"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleResamplingAlgorithm" ref="a5a2e5c42fba6719b5f2f4b8fa1f4154c" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">mrpt::bayes::CParticleFilter::TParticleResamplingAlgorithm</a></td>
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<p>Defines the different resampling algorithms. </p>
<p>The implemented resampling methods are:</p>
<ul>
<li>prMultinomial (Default): Uses standard select with replacement (draws M random uniform numbers)</li>
<li>prResidual: The residual or "remainder" method.</li>
<li>prStratified: The stratified resampling, where a uniform sample is drawn for each of M subdivisions of the range (0,1].</li>
<li>prSystematic: A single uniform sample is drawn in the range (0,1/M].</li>
</ul>
<p>See the theoretical discussion in <a href="http://www.mrpt.org/Resampling_Schemes">resampling schemes</a>. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a5a2e5c42fba6719b5f2f4b8fa1f4154ca6b2c858dc3a007653b879c350a48dca0"></a><!-- doxytag: member="prMultinomial" ref="a5a2e5c42fba6719b5f2f4b8fa1f4154ca6b2c858dc3a007653b879c350a48dca0" args="" -->prMultinomial</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a5a2e5c42fba6719b5f2f4b8fa1f4154ca718819b4633782b7d6adc9cc2ebba4bc"></a><!-- doxytag: member="prResidual" ref="a5a2e5c42fba6719b5f2f4b8fa1f4154ca718819b4633782b7d6adc9cc2ebba4bc" args="" -->prResidual</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a5a2e5c42fba6719b5f2f4b8fa1f4154ca8747cc68f954ecaea9adddfff1c5f877"></a><!-- doxytag: member="prStratified" ref="a5a2e5c42fba6719b5f2f4b8fa1f4154ca8747cc68f954ecaea9adddfff1c5f877" args="" -->prStratified</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a5a2e5c42fba6719b5f2f4b8fa1f4154ca610313e8aae9c864e57a6ce98272112f"></a><!-- doxytag: member="prSystematic" ref="a5a2e5c42fba6719b5f2f4b8fa1f4154ca610313e8aae9c864e57a6ce98272112f" args="" -->prSystematic</em> </td><td>
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</dd>
</dl>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00093">93</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a16ef76278459699a9a688ee702849a38"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::CParticleFilter" ref="a16ef76278459699a9a688ee702849a38" args="()" -->
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<td class="memname">mrpt::bayes::CParticleFilter::CParticleFilter </td>
<td>(</td>
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<p>Default constructor. </p>
<p>After creating the PF object, set the options in <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a428e336c70f1e76eb987b901feec0a51" title="The options to be used in the PF, must be set before executing any step of the particle filter...">CParticleFilter::m_options</a>, then execute steps through <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5398de0d0b207ddcac0cd5828241444c" title="Executes a complete prediction + update step of the selected particle filtering algorithm.">CParticleFilter::executeOn</a>. </p>
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<a class="anchor" id="a7ecd2a20c5b04b931829e0c81c9c8878"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::~CParticleFilter" ref="a7ecd2a20c5b04b931829e0c81c9c8878" args="()" -->
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<td class="memname">virtual mrpt::bayes::CParticleFilter::~CParticleFilter </td>
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<td><code> [inline, virtual]</code></td>
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<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00184">184</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a5398de0d0b207ddcac0cd5828241444c"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::executeOn" ref="a5398de0d0b207ddcac0cd5828241444c" args="(CParticleFilterCapable &obj, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, TParticleFilterStats *stats=NULL)" -->
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<td class="memname">void mrpt::bayes::CParticleFilter::executeOn </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> & </td>
<td class="paramname"><em>obj</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"><em>action</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"><em>observation</em>, </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_stats.html">TParticleFilterStats</a> * </td>
<td class="paramname"><em>stats</em> = <code>NULL</code> </td>
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<p>Executes a complete prediction + update step of the selected particle filtering algorithm. </p>
<p>The member <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a428e336c70f1e76eb987b901feec0a51" title="The options to be used in the PF, must be set before executing any step of the particle filter...">CParticleFilter::m_options</a> must be set before calling this to settle the algorithm parameters.</p>
<dl><dt><b>Parameters:</b></dt><dd>
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<tr><td class="paramname">obj</td><td>The object representing the probability distribution function (PDF) which apply the particle filter algorithm to. </td></tr>
<tr><td class="paramname">action</td><td>A pointer to an action in the form of a CActionCollection, or NULL if there is no action. </td></tr>
<tr><td class="paramname">observation</td><td>A pointer to observations in the form of a CSensoryFrame, or NULL if there is no observation. </td></tr>
<tr><td class="paramname">stats</td><td>An output structure for gathering statistics of the particle filter execution, or set to NULL if you do not need it (see <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_stats.html" title="Statistics for being returned from the "execute" method.">CParticleFilter::TParticleFilterStats</a>).</td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html" title="This virtual class defines the interface that any particles based PDF class must implement in order t...">CParticleFilterCapable</a>, <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5398de0d0b207ddcac0cd5828241444c" title="Executes a complete prediction + update step of the selected particle filtering algorithm.">executeOn</a> </dd></dl>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
<td>(</td>
<td class="paramtype">const char * </td>
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<td class="paramtype"> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a428e336c70f1e76eb987b901feec0a51"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::m_options" ref="a428e336c70f1e76eb987b901feec0a51" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">CParticleFilter::TParticleFilterOptions</a> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a428e336c70f1e76eb987b901feec0a51">mrpt::bayes::CParticleFilter::m_options</a></td>
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<p>The options to be used in the PF, must be set before executing any step of the particle filter. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00205">205</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
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