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<li class="navelem"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html">CLSLAM_RBPF_2DLASER</a> </li>
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<div class="title">mrpt::hmtslam::CLSLAM_RBPF_2DLASER Class Reference</div> </div>
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<!-- doxytag: class="mrpt::hmtslam::CLSLAM_RBPF_2DLASER" --><!-- doxytag: inherits="mrpt::hmtslam::CLSLAMAlgorithmBase" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. </p>
<p>This class is used internally in mrpt::slam::CHMTSLAM </p>
</div>
<p><code>#include <<a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">mrpt/hmtslam/CHMTSLAM.h</a>></code></p>
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Inheritance diagram for mrpt::hmtslam::CLSLAM_RBPF_2DLASER:</div>
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<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_inherit__map" id="mrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html" title="Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM." alt="" coords="18,5,269,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r-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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary structure. <a href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html#details">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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#ae44cef71def8bf45d1a26f03f9f17cf6">CLSLAM_RBPF_2DLASER</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> *parent)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ae44cef71def8bf45d1a26f03f9f17cf6"></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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a7969ba825e4f2d28cc65ab594f0d59dc">~CLSLAM_RBPF_2DLASER</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a7969ba825e4f2d28cc65ab594f0d59dc"></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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a95aff47f829003c18c48ade373d98d5b">processOneLMH</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a> *LMH, const <a class="el" href="structmrpt_1_1slam_1_1_c_action_collection_ptr.html">CActionCollectionPtr</a> &act, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &sf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Main entry point from HMT-SLAM: process some actions & observations. <a href="#a95aff47f829003c18c48ade373d98d5b"></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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a7c0ddcdcf68f022a040f13ecf39acaa8">prediction_and_update_pfAuxiliaryPFOptimal</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a> *LMH, 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="#a7c0ddcdcf68f022a040f13ecf39acaa8"></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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a7443f72dcce5078df8dc3dc9267ac7b9">prediction_and_update_pfOptimalProposal</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a> *LMH, 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="#a7443f72dcce5078df8dc3dc9267ac7b9"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
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_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a1e0c904b76a3423aafdc00f7848bacd2">loadTPathBinFromPath</a> (<a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a> &outBin, <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> > *path=NULL, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> *newPose=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills out a "TPathBin" variable, given a path hypotesis and (if not set to NULL) a new pose appended at the end, using the KLD params in "options". <a href="#a1e0c904b76a3423aafdc00f7848bacd2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#aadcd02c64868d884e8ae53f66c1b2fe5">findTPathBinIntoSet</a> (<a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a> &desiredBin, <a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a> > &theSet)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found. <a href="#aadcd02c64868d884e8ae53f66c1b2fe5"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a64bf171703ae55ca35837355116abaf2">particlesEvaluator_AuxPFOptimal</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> &PF_options, const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> *obj, size_t index, const void *action, const void *observation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary function used in "prediction_and_update_pfAuxiliaryPFOptimal". <a href="#a64bf171703ae55ca35837355116abaf2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a5dbc1fab2150959ab637a4cd7682051c">auxiliarComputeObservationLikelihood</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> &PF_options, const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> *obj, 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_pose2_d.html">CPose2D</a> *x)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary function that evaluates the likelihood of an observation, given a robot pose, and according to the options in "CPosePDFParticles::options". <a href="#a5dbc1fab2150959ab637a4cd7682051c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a0344ca6eae237faf3b11dfbcd0366f34">m_insertNewRobotPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For use within PF callback methods. <a href="#a0344ca6eae237faf3b11dfbcd0366f34"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1utils_1_1safe__ptr.html">safe_ptr</a>< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#a7fbb8903f004411c76e55d45df946efe">m_parent</a></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a8be947851baa9c04c2c4d71eae9b76cf">CLocalMetricHypothesis</a></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ae44cef71def8bf45d1a26f03f9f17cf6"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::CLSLAM_RBPF_2DLASER" ref="ae44cef71def8bf45d1a26f03f9f17cf6" args="(CHMTSLAM *parent)" -->
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<td class="memname">mrpt::hmtslam::CLSLAM_RBPF_2DLASER::CLSLAM_RBPF_2DLASER </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> * </td>
<td class="paramname"><em>parent</em></td><td>)</td>
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<p>Constructor. </p>
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<a class="anchor" id="a7969ba825e4f2d28cc65ab594f0d59dc"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::~CLSLAM_RBPF_2DLASER" ref="a7969ba825e4f2d28cc65ab594f0d59dc" args="()" -->
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<td class="memname">virtual mrpt::hmtslam::CLSLAM_RBPF_2DLASER::~CLSLAM_RBPF_2DLASER </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<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="a5dbc1fab2150959ab637a4cd7682051c"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood" ref="a5dbc1fab2150959ab637a4cd7682051c" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t particleIndexForMap, const CSensoryFrame *observation, const CPose2D *x)" -->
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<td class="memname">static double mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood </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>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <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">size_t </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>
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<td class="paramkey"></td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> * </td>
<td class="paramname"><em>x</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected]</code></td>
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<p>Auxiliary function that evaluates the likelihood of an observation, given a robot pose, and according to the options in "CPosePDFParticles::options". </p>
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<a class="anchor" id="aadcd02c64868d884e8ae53f66c1b2fe5"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::findTPathBinIntoSet" ref="aadcd02c64868d884e8ae53f66c1b2fe5" args="(TPathBin &desiredBin, std::deque< TPathBin > &theSet)" -->
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<td class="memname">int mrpt::hmtslam::CLSLAM_RBPF_2DLASER::findTPathBinIntoSet </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a> & </td>
<td class="paramname"><em>desiredBin</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a> > & </td>
<td class="paramname"><em>theSet</em> </td>
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<td>)</td>
<td></td><td><code> [protected]</code></td>
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<p>Checks if a given "TPathBin" element is already into a set of them, and return its index (first one is 0), or -1 if not found. </p>
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<a class="anchor" id="a1e0c904b76a3423aafdc00f7848bacd2"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath" ref="a1e0c904b76a3423aafdc00f7848bacd2" args="(TPathBin &outBin, std::map< TPoseID, CPose3D > *path=NULL, CPose2D *newPose=NULL)" -->
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<td class="memname">void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r_1_1_t_path_bin.html">TPathBin</a> & </td>
<td class="paramname"><em>outBin</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> > * </td>
<td class="paramname"><em>path</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> * </td>
<td class="paramname"><em>newPose</em> = <code>NULL</code> </td>
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<td></td><td><code> [protected]</code></td>
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<p>Fills out a "TPathBin" variable, given a path hypotesis and (if not set to NULL) a new pose appended at the end, using the KLD params in "options". </p>
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<a class="anchor" id="a64bf171703ae55ca35837355116abaf2"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal" ref="a64bf171703ae55ca35837355116abaf2" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)" -->
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<td class="memname">static double mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal </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>PF_options</em>, </td>
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<td class="paramtype">const <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">size_t </td>
<td class="paramname"><em>index</em>, </td>
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<td class="paramtype">const void * </td>
<td class="paramname"><em>action</em>, </td>
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<td class="paramtype">const void * </td>
<td class="paramname"><em>observation</em> </td>
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<td></td><td><code> [static, protected]</code></td>
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<p>Auxiliary function used in "prediction_and_update_pfAuxiliaryPFOptimal". </p>
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<a class="anchor" id="a7c0ddcdcf68f022a040f13ecf39acaa8"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal" ref="a7c0ddcdcf68f022a040f13ecf39acaa8" args="(CLocalMetricHypothesis *LMH, 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::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a> * </td>
<td class="paramname"><em>LMH</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_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="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>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<p>Implements <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#a28469cf7e21f441a35db66e42b5e0866">mrpt::hmtslam::CLSLAMAlgorithmBase</a>.</p>
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<a class="anchor" id="a7443f72dcce5078df8dc3dc9267ac7b9"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal" ref="a7443f72dcce5078df8dc3dc9267ac7b9" args="(CLocalMetricHypothesis *LMH, 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::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a> * </td>
<td class="paramname"><em>LMH</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_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>
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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>PF_options</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<p>Implements <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#ad6e794f4bccd7375f00c00706d7a27aa">mrpt::hmtslam::CLSLAMAlgorithmBase</a>.</p>
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<a class="anchor" id="a95aff47f829003c18c48ade373d98d5b"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH" ref="a95aff47f829003c18c48ade373d98d5b" args="(CLocalMetricHypothesis *LMH, const CActionCollectionPtr &act, const CSensoryFramePtr &sf)" -->
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<td class="memname">void mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a> * </td>
<td class="paramname"><em>LMH</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_action_collection_ptr.html">CActionCollectionPtr</a> & </td>
<td class="paramname"><em>act</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> & </td>
<td class="paramname"><em>sf</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Main entry point from HMT-SLAM: process some actions & observations. </p>
<p>The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">LMH</td><td>The local metric hypothesis which must be updated by this SLAM algorithm. </td></tr>
<tr><td class="paramname">act</td><td>The action to process (or NULL). </td></tr>
<tr><td class="paramname">sf</td><td>The observations to process (or NULL). </td></tr>
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<p>Implements <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#a21d3c172cb3ac6a371b8c46b0164c3f6">mrpt::hmtslam::CLSLAMAlgorithmBase</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a8be947851baa9c04c2c4d71eae9b76cf"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::CLocalMetricHypothesis" ref="a8be947851baa9c04c2c4d71eae9b76cf" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a><code> [friend]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#a8be947851baa9c04c2c4d71eae9b76cf">mrpt::hmtslam::CLSLAMAlgorithmBase</a>.</p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00559">559</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a0344ca6eae237faf3b11dfbcd0366f34"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::m_insertNewRobotPose" ref="a0344ca6eae237faf3b11dfbcd0366f34" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#a0344ca6eae237faf3b11dfbcd0366f34">mrpt::hmtslam::CLSLAM_RBPF_2DLASER::m_insertNewRobotPose</a><code> [protected]</code></td>
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<p>For use within PF callback methods. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00599">599</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="a7fbb8903f004411c76e55d45df946efe"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER::m_parent" ref="a7fbb8903f004411c76e55d45df946efe" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1safe__ptr.html">safe_ptr</a><<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a>> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#a7fbb8903f004411c76e55d45df946efe">mrpt::hmtslam::CLSLAMAlgorithmBase::m_parent</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00510">510</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<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>
