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<div class="title">mrpt::hmtslam::CLocalMetricHypothesis Class Reference</div> </div>
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<!-- doxytag: class="mrpt::hmtslam::CLocalMetricHypothesis" --><!-- doxytag: inherits="mrpt::bayes::CParticleFilterCapable,CParticleFilterData< CLSLAMParticleData >,mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). </p>
<p>It has a set of particles representing the robot path in nearby poses. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html" title="An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).">CHMTSLAM</a>, <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" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_local_metric_hypothesis_8h_source.html">mrpt/hmtslam/CLocalMetricHypothesis.h</a>></code></p>
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Inheritance diagram for mrpt::hmtslam::CLocalMetricHypothesis:</div>
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<p><a href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis-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_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html">TRobotPosesPartitioning</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used by AA thread. <a href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.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">typedef double(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">TParticleProbabilityEvaluator</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">A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". <a href="#a6a77d17782b7527dd6cdd4e024ac9f1b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef T </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">CParticleDataContent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the type inside the corresponding CParticleData class. <a href="#a95d1ef05087b7dc214aa7d8550a69e2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a>< T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this to refer to each element in the m_particles array. <a href="#a9a69200b93ad7b3c528362d3c1a35ea4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this type to refer to the list of particles m_particles. <a href="#a455efc0962577f042b38590f36583537"></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_local_metric_hypothesis.html#a2bbdca2d89a2fb8af1653bd7329a47b9">CLocalMetricHypothesis</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> *parent=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor (Default param only used from STL classes) <a href="#a2bbdca2d89a2fb8af1653bd7329a47b9"></a><br/></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_local_metric_hypothesis.html#a86511a658f5bee0d6f691d587f88f28d">~CLocalMetricHypothesis</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a86511a658f5bee0d6f691d587f88f28d"></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_local_metric_hypothesis.html#acc0d025987f9c66caad5d68000f1eae9">getAs3DScene</a> (<a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &objs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. <a href="#acc0d025987f9c66caad5d68000f1eae9"></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_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4">getMeans</a> (<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> > &outList) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean of each robot pose in this LMH, as computed from the set of particles. <a href="#a900ef425bec6c5c83e76b966e91791e4"></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_local_metric_hypothesis.html#a4ba3c721e2267263ffdc71fc135eb51c">getPathParticles</a> (<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_p_d_f_particles.html">CPose3DPDFParticles</a> > &outList) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. <a href="#a4ba3c721e2267263ffdc71fc135eb51c"></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_local_metric_hypothesis.html#afa8b95e48dd493f10d7be8bfe15b8237">getPoseParticles</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &poseID, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &outPDF) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. <a href="#afa8b95e48dd493f10d7be8bfe15b8237"></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_local_metric_hypothesis.html#ab7bb93d7896dae88dfb3bce6583a8cda">getRelativePose</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &reference, const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &pose, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &outPDF) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). <a href="#ab7bb93d7896dae88dfb3bce6583a8cda"></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_local_metric_hypothesis.html#a140ca3c2a9ed35ae2c309a8048967320">dumpAsText</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html">utils::CStringList</a> &st) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Describes the LMH in text. <a href="#a140ca3c2a9ed35ae2c309a8048967320"></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_local_metric_hypothesis.html#acba2fa4b741ec7992a9b6a99e821ff2c">changeCoordinateOrigin</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &newOrigin)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. <a href="#acba2fa4b741ec7992a9b6a99e821ff2c"></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_local_metric_hypothesis.html#a22552cd4b0cb997f5c49db70747270d4">rebuildMetricMaps</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the metric maps of all particles from the observations and their estimated poses. <a href="#a22552cd4b0cb997f5c49db70747270d4"></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_local_metric_hypothesis.html#a606853a7af9972034844b09ac34823ec">clearRobotPoses</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. <a href="#a606853a7af9972034844b09ac34823ec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a46e638e17923e4edd02c82032d928a1f">getCurrentPose</a> (const size_t &particleIdx) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the i'th particle hypothesis for the current robot pose. <a href="#a46e638e17923e4edd02c82032d928a1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1e6d76874e063f203e15e37c1c1181d4">getCurrentPose</a> (const size_t &particleIdx)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the i'th particle hypothesis for the current robot pose. <a href="#a1e6d76874e063f203e15e37c1c1181d4"></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_local_metric_hypothesis.html#a89cceed13077158b256d7e466dace4b4">removeAreaFromLMH</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> areaID)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Removes a given area from the LMH: <a href="#a89cceed13077158b256d7e466dace4b4"></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_local_metric_hypothesis.html#ac267ba60aa7a869d06c632a2a0550677">updateAreaFromLMH</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> areaID, bool eraseSFsFromLMH=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. <a href="#ac267ba60aa7a869d06c632a2a0550677"></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_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63">prepareFastDrawSample</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, <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">TParticleProbabilityEvaluator</a> partEvaluator=defaultEvaluator, const void *action=NULL, const void *observation=NULL) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Prepares data structures for calling fastDrawSample method next. <a href="#a02d7ff724a4b73d449a0f5dc28216e63"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#afc4f93d0568e52e91227348baf7b242f">fastDrawSample</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 </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). <a href="#afc4f93d0568e52e91227348baf7b242f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6ca16ca0217cdac4b586df5df9cdaea2">getW</a> (size_t i) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to i'th particle (logarithm) weight, where first one is index 0. <a href="#a6ca16ca0217cdac4b586df5df9cdaea2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aecb3d0c17d29b4027a7eede17d2e0b8e">setW</a> (size_t i, double w)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modifies i'th particle (logarithm) weight, where first one is index 0. <a href="#aecb3d0c17d29b4027a7eede17d2e0b8e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a70664baf3816bce82f06933270a5c8d1">particlesCount</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the m_particles count. <a href="#a70664baf3816bce82f06933270a5c8d1"></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_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e">prediction_and_update</a> (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">Performs the prediction stage of the Particle Filter. <a href="#a0b464ec72adbfc8a9aea3cf4aa6bdf9e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a9f8e1f63a625dedcc5e5209dde04203f">performSubstitution</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > &indx)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly. <a href="#a9f8e1f63a625dedcc5e5209dde04203f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a675b747939b1945bd16d6cee3f968c14">normalizeWeights</a> (double *out_max_log_w=NULL)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalize the (logarithmic) weights, such as the maximum weight is zero. <a href="#a675b747939b1945bd16d6cee3f968c14"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#afc87a617ea5582e4ba80bb3c065c4785">ESS</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. <a href="#afc87a617ea5582e4ba80bb3c065c4785"></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_1bayes_1_1_c_particle_filter_capable.html#a72a3c11af8ca4b021ced0568d952c664">performResampling</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)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a resample of the m_particles, using the method selected in the constructor. <a href="#a72a3c11af8ca4b021ced0568d952c664"></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_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9">clearParticles</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of all the particles and reset the array "m_particles" to length zero. <a href="#aec1870d0f4607da2c6cb83c4325005a9"></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_1bayes_1_1_c_particle_filter_data.html#ac5571368ccef88d4c205b43b9f6d630d">writeParticlesToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). <a href="#ac5571368ccef88d4c205b43b9f6d630d"></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_1bayes_1_1_c_particle_filter_data.html#ad32e2f80aeab31b21184d7e1bde687bc">readParticlesFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> &in)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). <a href="#ad32e2f80aeab31b21184d7e1bde687bc"></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_1bayes_1_1_c_particle_filter_data.html#a1197013292ffd4af22c539cac3304263">getWeights</a> (<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &out_logWeights) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a vector with the sequence of the logaritmic weights of all the samples. <a href="#a1197013292ffd4af22c539cac3304263"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a814fc6f819c7e213c036467c14fbba66">getMostLikelyParticle</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the particle with the highest weight. <a href="#a814fc6f819c7e213c036467c14fbba66"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></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 double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aca935576d796515781dfd8456f4c3025">defaultEvaluator</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">The default evaluator function, which simply returns the particle weight. <a href="#aca935576d796515781dfd8456f4c3025"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#ae7468df83aa6ac4c3d616167036fd6d0">computeResampling</a> (<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">CParticleFilter::TParticleResamplingAlgorithm</a> method, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &in_logWeights, <a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > &out_indexes)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. <a href="#ae7468df83aa6ac4c3d616167036fd6d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aea2fbc82bdf299a199d98692cc234fed">log2linearWeights</a> (const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &in_logWeights, <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &out_linWeights)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A static method to compute the linear, normalized (the sum the unity) weights from log-weights. <a href="#aea2fbc82bdf299a199d98692cc234fed"></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="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3fca93101fbbd36f8542deb960231f53">m_lock</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Critical section for threads signaling they are working with the LMH. <a href="#a3fca93101fbbd36f8542deb960231f53"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a559c9d5b9fcc9325ecd95f722fbe682f">m_ID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). <a href="#a559c9d5b9fcc9325ecd95f722fbe682f"></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_local_metric_hypothesis.html#acb6413f6bc48d29770cc179eab5ee0a3">m_parent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For quick access to our parent object. <a href="#acb6413f6bc48d29770cc179eab5ee0a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ae2172d3ffdfeeefe6183f6dca598f960">m_currentRobotPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current robot pose (its global unique ID) for this hypothesis. <a href="#ae2172d3ffdfeeefe6183f6dca598f960"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">TNodeIDSet</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a7bda1e6774884134f9b34d220eccd5df">m_neighbors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of all areas sourronding the current one (this includes the current area itself). <a href="#a7bda1e6774884134f9b34d220eccd5df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <br class="typebreak"/>
<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ad7adc8d8a5e7a04334a50558b051aa15">m_nodeIDmemberships</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The hybrid map node membership for each robot pose. <a href="#ad7adc8d8a5e7a04334a50558b051aa15"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><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_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a9a921aef54b49bab62dc18e20913f44e">m_SFs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The SF gathered at each robot pose. <a href="#a9a921aef54b49bab62dc18e20913f44e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">TPoseIDList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#af701aeb4da0c4c13ae8e288e92389ccf">m_posesPendingAddPartitioner</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. <a href="#af701aeb4da0c4c13ae8e288e92389ccf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#af24315db2125723962f15ddf815ca4cd">TNodeIDList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1baff49d6df7e31ad47308f9d4dcf411">m_areasPendingTBI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#a162ff392270839bc8c37a771308ac820" title="No critical section locks are assumed at the entrance of this method.">CHMTSLAM::LSLAM_process_message_from_AA</a>, read in. <a href="#a1baff49d6df7e31ad47308f9d4dcf411"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3b7c38915660b84a3b3de6a80b5b4d97">m_log_w</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Log-weight of this hypothesis. <a href="#a3b7c38915660b84a3b3de6a80b5b4d97"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <br class="typebreak"/>
double > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adcde7731917b103e6e4b460c1627b215">m_log_w_metric_history</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The historic log-weights of the metric observations inserted in this LMH, for each particle. <a href="#adcde7731917b103e6e4b460c1627b215"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1683692cc38d5b813b5dcf35aabecf3d">m_accumRobotMovement</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <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" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. <a href="#a1683692cc38d5b813b5dcf35aabecf3d"></a><br/></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_local_metric_hypothesis.html#a8ed7c3c48ce94c1310a19a59adde5b38">m_accumRobotMovementIsValid</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <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" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. <a href="#a8ed7c3c48ce94c1310a19a59adde5b38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct <br class="typebreak"/>
<a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html">mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3f3981f549cb1cef110fc034bd3bea8f">m_robotPosesGraph</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">m_particles</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The array of particles. <a href="#af8bb2dfdacf54929213c8f905cdec000"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></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">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a06f7be77f50468af6e58c5514b911447">prediction_and_update_pfStandardProposal</a> (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">Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). <a href="#a06f7be77f50468af6e58c5514b911447"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6c3422cab2911965e328101bf240414c">prediction_and_update_pfAuxiliaryPFStandard</a> (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">Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). <a href="#a6c3422cab2911965e328101bf240414c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Virtual methods for Particle Filter implementation (just a wrapper interface, actually implemented in CHMTSLAM::m_LSLAM_method)</div></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_local_metric_hypothesis.html#a78b180315cc2053366ffc323d70c47d3">prediction_and_update_pfAuxiliaryPFOptimal</a> (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="#a78b180315cc2053366ffc323d70c47d3"></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_local_metric_hypothesis.html#a0ff4807b7f76022508be551a47fdfb4a">prediction_and_update_pfOptimalProposal</a> (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="#a0ff4807b7f76022508be551a47fdfb4a"></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"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#abc11654124437b1de2c11f11b6d4de42">m_pfAuxiliaryPFOptimal_estimatedProb</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#abc11654124437b1de2c11f11b6d4de42"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a8fabfc4450cff62dfe7a46394238dac2">m_maxLikelihood</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#a8fabfc4450cff62dfe7a46394238dac2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>, <br class="typebreak"/>
<a class="el" href="class_eigen_1_1aligned__allocator.html">Eigen::aligned_allocator</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adb3d4f2b5e1ab97d40b9bad40e9a657f">m_movementDraws</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#adb3d4f2b5e1ab97d40b9bad40e9a657f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adf3b8099493296b90d5d8e7ffec620da">m_movementDrawsIdx</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#adf3b8099493296b90d5d8e7ffec620da"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1poses.html#ab321f17adba329f3e24d41d533408739">StdVector_CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aed755bb8891d2a1dcd96e0b2a17e7db0">m_movementDrawMaximumLikelihood</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#aed755bb8891d2a1dcd96e0b2a17e7db0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_capable_1_1_t_fast_draw_aux_vars.html">TFastDrawAuxVars</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0f9ce972442bcd3324711dd2211ce659">m_fastDrawAuxiliary</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary vectors, see <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">CParticleFilterCapable::prepareFastDrawSample</a> for more information. <a href="#a0f9ce972442bcd3324711dd2211ce659"></a><br/></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_local_metric_hypothesis.html#ac34a721ee598515baa4048b339f41013">CLSLAM_RBPF_2DLASER</a></td></tr>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a190437d4041db42984c49394686e827d">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aec8abd058803e0bf4f3298a4412981f2">_init_CLocalMetricHypothesis</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a11ea61f54e94e408b5279ea8a785b3f4">classCLocalMetricHypothesis</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a400f9847442c0e95615c9c0382d7d606">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aef3febbb24f0a99281901f025fad1682">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ab0a19d848da91ea2ce401e6436f21862">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#ab0a19d848da91ea2ce401e6436f21862"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ac78d9a44f581338715379d0cd17e2fd1">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#ac78d9a44f581338715379d0cd17e2fd1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a7b4ffa0a882471e006c54011c8a67862">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1d60ff6c2b9132127607d4ff0290f167">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a9a69200b93ad7b3c528362d3c1a35ea4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CParticleData" ref="a9a69200b93ad7b3c528362d3c1a35ea4" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><T> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">mrpt::bayes::CParticleFilterData::CParticleData</a><code> [inherited]</code></td>
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<p>Use this to refer to each element in the m_particles array. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00061">61</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a95d1ef05087b7dc214aa7d8550a69e2b"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CParticleDataContent" ref="a95d1ef05087b7dc214aa7d8550a69e2b" args="" -->
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<td class="memname">typedef T <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">mrpt::bayes::CParticleFilterData::CParticleDataContent</a><code> [inherited]</code></td>
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<p>This is the type inside the corresponding CParticleData class. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00060">60</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a455efc0962577f042b38590f36583537"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CParticleList" ref="a455efc0962577f042b38590f36583537" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a>> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">mrpt::bayes::CParticleFilterData::CParticleList</a><code> [inherited]</code></td>
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<p>Use this type to refer to the list of particles m_particles. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00062">62</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a190437d4041db42984c49394686e827d"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::SmartPtr" ref="a190437d4041db42984c49394686e827d" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a190437d4041db42984c49394686e827d">mrpt::hmtslam::CLocalMetricHypothesis::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00100">100</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a6a77d17782b7527dd6cdd4e024ac9f1b"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::TParticleProbabilityEvaluator" ref="a6a77d17782b7527dd6cdd4e024ac9f1b" 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">typedef double( * <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator</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)<code> [inherited]</code></td>
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<p>A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". </p>
<p>The default evaluator function "defaultEvaluator" simply returns the particle weight. </p>
<dl><dt><b>Parameters:</b></dt><dd>
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<tr><td class="paramname">index</td><td>This is the index of the particle its probability is being computed. </td></tr>
<tr><td class="paramname">action</td><td>The value of this is the parameter passed to "prepareFastDrawSample" </td></tr>
<tr><td class="paramname">observation</td><td>The value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility. </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#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">prepareFastDrawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_capable_8h_source.html#l00073">73</a> of file <a class="el" href="_c_particle_filter_capable_8h_source.html">CParticleFilterCapable.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a2bbdca2d89a2fb8af1653bd7329a47b9"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CLocalMetricHypothesis" ref="a2bbdca2d89a2fb8af1653bd7329a47b9" args="(CHMTSLAM *parent=NULL)" -->
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<td class="memname">mrpt::hmtslam::CLocalMetricHypothesis::CLocalMetricHypothesis </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> = <code>NULL</code></td><td>)</td>
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<p>Constructor (Default param only used from STL classes) </p>
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<a class="anchor" id="a86511a658f5bee0d6f691d587f88f28d"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::~CLocalMetricHypothesis" ref="a86511a658f5bee0d6f691d587f88f28d" args="()" -->
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aef3febbb24f0a99281901f025fad1682"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass" ref="aef3febbb24f0a99281901f025fad1682" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass </td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="acba2fa4b741ec7992a9b6a99e821ff2c"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin" ref="acba2fa4b741ec7992a9b6a99e821ff2c" args="(const TPoseID &newOrigin)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
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<p>Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. </p>
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<a class="anchor" id="aec1870d0f4607da2c6cb83c4325005a9"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::clearParticles" ref="aec1870d0f4607da2c6cb83c4325005a9" args="()" -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::clearParticles </td>
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<p>Free the memory of all the particles and reset the array "m_particles" to length zero. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00072">72</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a606853a7af9972034844b09ac34823ec"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses" ref="a606853a7af9972034844b09ac34823ec" args="()" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses </td>
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<p>Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. </p>
<p>Sets the number of particles to the initial number according to the PF options, and initialize them with no robot poses & empty metric maps. </p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ae7468df83aa6ac4c3d616167036fd6d0"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::computeResampling" ref="ae7468df83aa6ac4c3d616167036fd6d0" args="(CParticleFilter::TParticleResamplingAlgorithm method, const vector_double &in_logWeights, std::vector< size_t > &out_indexes)" -->
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<td class="memname">static void mrpt::bayes::CParticleFilterCapable::computeResampling </td>
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<td class="paramname"><em>method</em>, </td>
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<p>A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. </p>
<p>It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a72a3c11af8ca4b021ced0568d952c664" title="Performs a resample of the m_particles, using the method selected in the constructor.">performResampling</a> </dd></dl>
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<a class="anchor" id="a1d60ff6c2b9132127607d4ff0290f167"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::Create" ref="a1d60ff6c2b9132127607d4ff0290f167" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> mrpt::hmtslam::CLocalMetricHypothesis::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::hmtslam::CLocalMetricHypothesis::CreateObject </td>
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<a class="anchor" id="aca935576d796515781dfd8456f4c3025"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::defaultEvaluator" ref="aca935576d796515781dfd8456f4c3025" 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::bayes::CParticleFilterCapable::defaultEvaluator </td>
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<p>The default evaluator function, which simply returns the particle weight. </p>
<p>The action and the observation are declared as "void*" for a greater flexibility. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">prepareFastDrawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_capable_8h_source.html#l00084">84</a> of file <a class="el" href="_c_particle_filter_capable_8h_source.html">CParticleFilterCapable.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00311">MRPT_UNUSED_PARAM</a>, and <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6ca16ca0217cdac4b586df5df9cdaea2">mrpt::bayes::CParticleFilterCapable::getW()</a>.</p>
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<a class="anchor" id="a140ca3c2a9ed35ae2c309a8048967320"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText" ref="a140ca3c2a9ed35ae2c309a8048967320" args="(utils::CStringList &st) const " -->
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<p>Describes the LMH in text. </p>
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<a class="anchor" id="ac78d9a44f581338715379d0cd17e2fd1"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::duplicate" ref="ac78d9a44f581338715379d0cd17e2fd1" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::hmtslam::CLocalMetricHypothesis::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="afc87a617ea5582e4ba80bb3c065c4785"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::ESS" ref="afc87a617ea5582e4ba80bb3c065c4785" args="()=0" -->
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<p>Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. </p>
<p>Note that you do NOT need to normalize the weights before calling this. </p>
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<a class="anchor" id="afc4f93d0568e52e91227348baf7b242f"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::fastDrawSample" ref="afc4f93d0568e52e91227348baf7b242f" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const " -->
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<p>Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). </p>
<p>This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the <a href="http://www.mrpt.org/Particle_Filters">Particle Filter tutorial</a>.</p>
<p>NOTES:</p>
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<li>You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)</li>
<li>This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]</li>
<li>You do not need to call "normalizeWeights" before calling this. <dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">prepareFastDrawSample</a> </dd></dl>
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<a class="anchor" id="acc0d025987f9c66caad5d68000f1eae9"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene" ref="acc0d025987f9c66caad5d68000f1eae9" args="(mrpt::opengl::CSetOfObjectsPtr &objs) const " -->
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<p>Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. </p>
<p>The metric maps are *not* included here for convenience, call m_metricMaps.getAs3DScene(). The previous contents of "objs" will be discarded </p>
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<td class="memname">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>* mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose </td>
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<p>Returns the i'th particle hypothesis for the current robot pose. </p>
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<p>Returns the i'th particle hypothesis for the current robot pose. </p>
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<p>Returns the mean of each robot pose in this LMH, as computed from the set of particles. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a4ba3c721e2267263ffdc71fc135eb51c" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPathParticles</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ab7bb93d7896dae88dfb3bce6583a8cda" title="Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH)...">getRelativePose</a> </dd></dl>
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<td class="memname">const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a>* mrpt::bayes::CParticleFilterData::getMostLikelyParticle </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the particle with the highest weight. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00140">140</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a4ba3c721e2267263ffdc71fc135eb51c"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getPathParticles" ref="a4ba3c721e2267263ffdc71fc135eb51c" args="(std::map< TPoseID, CPose3DPDFParticles > &outList) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getPathParticles </td>
<td>(</td>
<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_p_d_f_particles.html">CPose3DPDFParticles</a> > & </td>
<td class="paramname"><em>outList</em></td><td>)</td>
<td> const</td>
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<p>Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4" title="Returns the mean of each robot pose in this LMH, as computed from the set of particles.">getMeans</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#afa8b95e48dd493f10d7be8bfe15b8237" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPoseParticles</a> </dd></dl>
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<a class="anchor" id="afa8b95e48dd493f10d7be8bfe15b8237"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles" ref="afa8b95e48dd493f10d7be8bfe15b8237" args="(const TPoseID &poseID, CPose3DPDFParticles &outPDF) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"><em>poseID</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"><em>outPDF</em> </td>
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<p>Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4" title="Returns the mean of each robot pose in this LMH, as computed from the set of particles.">getMeans</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a4ba3c721e2267263ffdc71fc135eb51c" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPathParticles</a> </dd></dl>
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<a class="anchor" id="ab7bb93d7896dae88dfb3bce6583a8cda"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose" ref="ab7bb93d7896dae88dfb3bce6583a8cda" args="(const TPoseID &reference, const TPoseID &pose, CPose3DPDFParticles &outPDF) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"><em>reference</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"><em>pose</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"><em>outPDF</em> </td>
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<td>)</td>
<td></td><td> const</td>
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<p>Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4" title="Returns the mean of each robot pose in this LMH, as computed from the set of particles.">getMeans</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#afa8b95e48dd493f10d7be8bfe15b8237" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPoseParticles</a> </dd></dl>
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<a class="anchor" id="ab0a19d848da91ea2ce401e6436f21862"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass" ref="ab0a19d848da91ea2ce401e6436f21862" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass </td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a6ca16ca0217cdac4b586df5df9cdaea2"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getW" ref="a6ca16ca0217cdac4b586df5df9cdaea2" args="(size_t i) const =0" -->
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<td class="memname">virtual double mrpt::bayes::CParticleFilterCapable::getW </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Access to i'th particle (logarithm) weight, where first one is index 0. </p>
<p>Referenced by <a class="el" href="_c_particle_filter_capable_8h_source.html#l00084">mrpt::bayes::CParticleFilterCapable::defaultEvaluator()</a>.</p>
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<a class="anchor" id="a1197013292ffd4af22c539cac3304263"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getWeights" ref="a1197013292ffd4af22c539cac3304263" args="(vector_double &out_logWeights) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::getWeights </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>out_logWeights</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a vector with the sequence of the logaritmic weights of all the samples. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00127">127</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="aea2fbc82bdf299a199d98692cc234fed"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::log2linearWeights" ref="aea2fbc82bdf299a199d98692cc234fed" args="(const vector_double &in_logWeights, vector_double &out_linWeights)" -->
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<td class="memname">static void mrpt::bayes::CParticleFilterCapable::log2linearWeights </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>in_logWeights</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>out_linWeights</em> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>A static method to compute the linear, normalized (the sum the unity) weights from log-weights. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a72a3c11af8ca4b021ced0568d952c664" title="Performs a resample of the m_particles, using the method selected in the constructor.">performResampling</a> </dd></dl>
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<a class="anchor" id="a675b747939b1945bd16d6cee3f968c14"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::normalizeWeights" ref="a675b747939b1945bd16d6cee3f968c14" args="(double *out_max_log_w=NULL)=0" -->
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<td class="memname">virtual double mrpt::bayes::CParticleFilterCapable::normalizeWeights </td>
<td>(</td>
<td class="paramtype">double * </td>
<td class="paramname"><em>out_max_log_w</em> = <code>NULL</code></td><td>)</td>
<td><code> [pure virtual, inherited]</code></td>
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<p>Normalize the (logarithmic) weights, such as the maximum weight is zero. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_max_log_w</td><td>If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The max/min ratio of weights ("dynamic range") </dd></dl>
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<a class="anchor" id="a70664baf3816bce82f06933270a5c8d1"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::particlesCount" ref="a70664baf3816bce82f06933270a5c8d1" args="() const =0" -->
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<td class="memname">virtual size_t mrpt::bayes::CParticleFilterCapable::particlesCount </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Get the m_particles count. </p>
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<a class="anchor" id="a72a3c11af8ca4b021ced0568d952c664"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::performResampling" ref="a72a3c11af8ca4b021ced0568d952c664" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::bayes::CParticleFilterCapable::performResampling </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><td>)</td>
<td><code> [inherited]</code></td>
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<p>Performs a resample of the m_particles, using the method selected in the constructor. </p>
<p>After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample" </p>
<dl class="see"><dt><b>See also:</b></dt><dd>resample </dd></dl>
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<a class="anchor" id="a9f8e1f63a625dedcc5e5209dde04203f"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::performSubstitution" ref="a9f8e1f63a625dedcc5e5209dde04203f" args="(const std::vector< size_t > &indx)=0" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::performSubstitution </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > & </td>
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<td><code> [pure virtual, inherited]</code></td>
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<p>Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">indx</td><td>The indices of current m_particles to be saved as the new m_particles set. </td></tr>
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<a class="anchor" id="a0b464ec72adbfc8a9aea3cf4aa6bdf9e"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update" ref="a0b464ec72adbfc8a9aea3cf4aa6bdf9e" args="(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::bayes::CParticleFilterCapable::prediction_and_update </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>
<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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<p>Performs the prediction stage of the Particle Filter. </p>
<p>This method simply selects the appropiate protected method according to the particle filter algorithm to run. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a06f7be77f50468af6e58c5514b911447" title="Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if no...">prediction_and_update_pfStandardProposal</a>,<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6c3422cab2911965e328101bf240414c" title="Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if...">prediction_and_update_pfAuxiliaryPFStandard</a>,<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0094d5dd370db9a037c67dde87649911" title="Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not...">prediction_and_update_pfOptimalProposal</a>,<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aeeccd563c344607e4cc96272c9817bd8" title="Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if ...">prediction_and_update_pfAuxiliaryPFOptimal</a> </dd></dl>
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<a class="anchor" id="a78b180315cc2053366ffc323d70c47d3"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal" ref="a78b180315cc2053366ffc323d70c47d3" args="(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::CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal </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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<tr>
<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>
</tr>
<tr>
<td class="paramkey"></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>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aeeccd563c344607e4cc96272c9817bd8">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a6c3422cab2911965e328101bf240414c"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFStandard" ref="a6c3422cab2911965e328101bf240414c" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard </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>
</tr>
<tr>
<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>
</tr>
<tr>
<td class="paramkey"></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>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
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<p>Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a3074ce8f8ecf530f127d62924c04a375">mrpt::slam::CMonteCarloLocalization2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html#a760564d6b69f6657885554965242e124">mrpt::slam::CMonteCarloLocalization3D</a>.</p>
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<a class="anchor" id="a0ff4807b7f76022508be551a47fdfb4a"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal" ref="a0ff4807b7f76022508be551a47fdfb4a" args="(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::CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal </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>
</tr>
<tr>
<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>
</tr>
<tr>
<td class="paramkey"></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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual]</code></td>
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<p>The PF algorithm implementation. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0094d5dd370db9a037c67dde87649911">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a06f7be77f50468af6e58c5514b911447"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfStandardProposal" ref="a06f7be77f50468af6e58c5514b911447" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfStandardProposal </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>
<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>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
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<p>Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#afb789df37583e3e6fbc28246a38a5ccd">mrpt::slam::CMonteCarloLocalization2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a5d0030387ffaf9ec50a17be06e477fb9">mrpt::slam::CMultiMetricMapPDF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html#aecc3c96a277c773685141a464f799330">mrpt::slam::CMonteCarloLocalization3D</a>.</p>
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<a class="anchor" id="a02d7ff724a4b73d449a0f5dc28216e63"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prepareFastDrawSample" ref="a02d7ff724a4b73d449a0f5dc28216e63" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void *action=NULL, const void *observation=NULL) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample </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></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">TParticleProbabilityEvaluator</a> </td>
<td class="paramname"><em>partEvaluator</em> = <code>defaultEvaluator</code>, </td>
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<td class="paramtype">const void * </td>
<td class="paramname"><em>action</em> = <code>NULL</code>, </td>
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<td class="paramtype">const void * </td>
<td class="paramname"><em>observation</em> = <code>NULL</code> </td>
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<p>Prepares data structures for calling fastDrawSample method next. </p>
<p>This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see <a class="el" 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>):</p>
<ul>
<li><b>DYNAMIC SAMPLE SIZE=NO</b>: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.</li>
<li><b>DYNAMIC SAMPLE SIZE=YES</b>: Then:<ul>
<li>If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.</li>
<li>For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.</li>
</ul>
</li>
</ul>
<p>The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the <a href="http://www.mrpt.org/Particle_Filters">Particle Filter tutorial</a>. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#afc4f93d0568e52e91227348baf7b242f" title="Draws a random sample from the particle filter, in such a way that each particle has a probability pr...">fastDrawSample</a> </dd></dl>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="ad32e2f80aeab31b21184d7e1bde687bc"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::readParticlesFromStream" ref="ad32e2f80aeab31b21184d7e1bde687bc" args="(utils::CStream &in)" -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::readParticlesFromStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> & </td>
<td class="paramname"><em>in</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>writeParticlesToStream </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00107">107</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a22552cd4b0cb997f5c49db70747270d4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::rebuildMetricMaps" ref="a22552cd4b0cb997f5c49db70747270d4" args="()" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::rebuildMetricMaps </td>
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<p>Rebuild the metric maps of all particles from the observations and their estimated poses. </p>
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<a class="anchor" id="a89cceed13077158b256d7e466dace4b4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::removeAreaFromLMH" ref="a89cceed13077158b256d7e466dace4b4" args="(const CHMHMapNode::TNodeID areaID)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::removeAreaFromLMH </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> </td>
<td class="paramname"><em>areaID</em></td><td>)</td>
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<p>Removes a given area from the LMH: </p>
<ul>
<li>The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH.</li>
<li>Robot poses belonging to that area are removed from:<ul>
<li>the particles.</li>
<li>the graph partitioner.</li>
<li>the list of SFs.</li>
<li>the list m_nodeIDmemberships.</li>
</ul>
</li>
<li>m_neighbors is updated.</li>
</ul>
<p>The weights of all particles are changed to remove the effects of the removed metric observations.</p>
<ul>
<li>After calling this the metric maps should be updated.</li>
</ul>
<p>This method internally calls updateAreaFromLMH </p>
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<a class="anchor" id="aecb3d0c17d29b4027a7eede17d2e0b8e"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::setW" ref="aecb3d0c17d29b4027a7eede17d2e0b8e" args="(size_t i, double w)=0" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::setW </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>w</em> </td>
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<td>)</td>
<td></td><td><code> [pure virtual, inherited]</code></td>
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<p>Modifies i'th particle (logarithm) weight, where first one is index 0. </p>
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<a class="anchor" id="ac267ba60aa7a869d06c632a2a0550677"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH" ref="ac267ba60aa7a869d06c632a2a0550677" args="(const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> </td>
<td class="paramname"><em>areaID</em>, </td>
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<td class="paramname"><em>eraseSFsFromLMH</em> = <code>false</code> </td>
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<p>The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. </p>
<p>If eraseSFsFromLMH=true, the sensoryframes are moved rather than copied to the area, and removed from the LMH. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>The critical section m_map_cs is locked internally, unlock it before calling this. </dd></dl>
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<a class="anchor" id="ac5571368ccef88d4c205b43b9f6d630d"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::writeParticlesToStream" ref="ac5571368ccef88d4c205b43b9f6d630d" args="(utils::CStream &out) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::writeParticlesToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>readParticlesFromStream </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00093">93</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="ac34a721ee598515baa4048b339f41013"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CLSLAM_RBPF_2DLASER" ref="ac34a721ee598515baa4048b339f41013" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <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><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00097">97</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aec8abd058803e0bf4f3298a4412981f2"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::_init_CLocalMetricHypothesis" ref="aec8abd058803e0bf4f3298a4412981f2" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aec8abd058803e0bf4f3298a4412981f2">mrpt::hmtslam::CLocalMetricHypothesis::_init_CLocalMetricHypothesis</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00100">100</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a11ea61f54e94e408b5279ea8a785b3f4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::classCLocalMetricHypothesis" ref="a11ea61f54e94e408b5279ea8a785b3f4" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a11ea61f54e94e408b5279ea8a785b3f4">mrpt::hmtslam::CLocalMetricHypothesis::classCLocalMetricHypothesis</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00100">100</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a400f9847442c0e95615c9c0382d7d606"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::classinfo" ref="a400f9847442c0e95615c9c0382d7d606" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a400f9847442c0e95615c9c0382d7d606">mrpt::hmtslam::CLocalMetricHypothesis::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00100">100</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a1683692cc38d5b813b5dcf35aabecf3d"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement" ref="a1683692cc38d5b813b5dcf35aabecf3d" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1683692cc38d5b813b5dcf35aabecf3d">mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement</a></td>
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<p>Used in <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" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00126">126</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a8ed7c3c48ce94c1310a19a59adde5b38"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid" ref="a8ed7c3c48ce94c1310a19a59adde5b38" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a8ed7c3c48ce94c1310a19a59adde5b38">mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid</a></td>
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<p>Used in <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" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00127">127</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a1baff49d6df7e31ad47308f9d4dcf411"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI" ref="a1baff49d6df7e31ad47308f9d4dcf411" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#af24315db2125723962f15ddf815ca4cd">TNodeIDList</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1baff49d6df7e31ad47308f9d4dcf411">mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI</a></td>
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<p>The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#a162ff392270839bc8c37a771308ac820" title="No critical section locks are assumed at the entrance of this method.">CHMTSLAM::LSLAM_process_message_from_AA</a>, read in. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00120">120</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="ae2172d3ffdfeeefe6183f6dca598f960"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose" ref="ae2172d3ffdfeeefe6183f6dca598f960" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ae2172d3ffdfeeefe6183f6dca598f960">mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose</a></td>
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<p>The current robot pose (its global unique ID) for this hypothesis. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00114">114</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a0f9ce972442bcd3324711dd2211ce659"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_fastDrawAuxiliary" ref="a0f9ce972442bcd3324711dd2211ce659" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_capable_1_1_t_fast_draw_aux_vars.html">TFastDrawAuxVars</a> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0f9ce972442bcd3324711dd2211ce659">mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary</a><code> [mutable, protected, inherited]</code></td>
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<p>Auxiliary vectors, see <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">CParticleFilterCapable::prepareFastDrawSample</a> for more information. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_capable_8h_source.html#l00249">249</a> of file <a class="el" href="_c_particle_filter_capable_8h_source.html">CParticleFilterCapable.h</a>.</p>
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<a class="anchor" id="a559c9d5b9fcc9325ecd95f722fbe682f"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_ID" ref="a559c9d5b9fcc9325ecd95f722fbe682f" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a559c9d5b9fcc9325ecd95f722fbe682f">mrpt::hmtslam::CLocalMetricHypothesis::m_ID</a></td>
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<p>The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00112">112</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a3fca93101fbbd36f8542deb960231f53"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_lock" ref="a3fca93101fbbd36f8542deb960231f53" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3fca93101fbbd36f8542deb960231f53">mrpt::hmtslam::CLocalMetricHypothesis::m_lock</a></td>
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<p>Critical section for threads signaling they are working with the LMH. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00111">111</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a3b7c38915660b84a3b3de6a80b5b4d97"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_log_w" ref="a3b7c38915660b84a3b3de6a80b5b4d97" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3b7c38915660b84a3b3de6a80b5b4d97">mrpt::hmtslam::CLocalMetricHypothesis::m_log_w</a></td>
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<p>Log-weight of this hypothesis. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00122">122</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="adcde7731917b103e6e4b460c1627b215"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history" ref="adcde7731917b103e6e4b460c1627b215" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classstd_1_1map.html">std::map</a><<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>,double> > <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adcde7731917b103e6e4b460c1627b215">mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history</a></td>
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<p>The historic log-weights of the metric observations inserted in this LMH, for each particle. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00123">123</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a8fabfc4450cff62dfe7a46394238dac2"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood" ref="a8fabfc4450cff62dfe7a46394238dac2" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><double> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a8fabfc4450cff62dfe7a46394238dac2">mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00244">244</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt_1_1poses.html#ab321f17adba329f3e24d41d533408739">StdVector_CPose2D</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aed755bb8891d2a1dcd96e0b2a17e7db0">mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawMaximumLikelihood</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00256">256</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="adb3d4f2b5e1ab97d40b9bad40e9a657f"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_movementDraws" ref="adb3d4f2b5e1ab97d40b9bad40e9a657f" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>,<a class="el" href="class_eigen_1_1aligned__allocator.html">Eigen::aligned_allocator</a><<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>> > <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adb3d4f2b5e1ab97d40b9bad40e9a657f">mrpt::hmtslam::CLocalMetricHypothesis::m_movementDraws</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00248">248</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adf3b8099493296b90d5d8e7ffec620da">mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawsIdx</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00252">252</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a7bda1e6774884134f9b34d220eccd5df"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors" ref="a7bda1e6774884134f9b34d220eccd5df" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">TNodeIDSet</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a7bda1e6774884134f9b34d220eccd5df">mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors</a></td>
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<p>The list of all areas sourronding the current one (this includes the current area itself). </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00116">116</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="ad7adc8d8a5e7a04334a50558b051aa15"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships" ref="ad7adc8d8a5e7a04334a50558b051aa15" args="" -->
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<td class="memname"><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_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a>> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ad7adc8d8a5e7a04334a50558b051aa15">mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships</a></td>
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<p>The hybrid map node membership for each robot pose. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00117">117</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="acb6413f6bc48d29770cc179eab5ee0a3"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_parent" ref="acb6413f6bc48d29770cc179eab5ee0a3" 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_local_metric_hypothesis.html#acb6413f6bc48d29770cc179eab5ee0a3">mrpt::hmtslam::CLocalMetricHypothesis::m_parent</a></td>
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<p>For quick access to our parent object. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00113">113</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="af8bb2dfdacf54929213c8f905cdec000"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_particles" ref="af8bb2dfdacf54929213c8f905cdec000" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">mrpt::bayes::CParticleFilterData::m_particles</a><code> [inherited]</code></td>
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<p>The array of particles. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00064">64</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="abc11654124437b1de2c11f11b6d4de42"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_pfAuxiliaryPFOptimal_estimatedProb" ref="abc11654124437b1de2c11f11b6d4de42" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#abc11654124437b1de2c11f11b6d4de42">mrpt::hmtslam::CLocalMetricHypothesis::m_pfAuxiliaryPFOptimal_estimatedProb</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00240">240</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="af701aeb4da0c4c13ae8e288e92389ccf"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner" ref="af701aeb4da0c4c13ae8e288e92389ccf" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">TPoseIDList</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#af701aeb4da0c4c13ae8e288e92389ccf">mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner</a></td>
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<p>The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00119">119</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a3f3981f549cb1cef110fc034bd3bea8f"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph" ref="a3f3981f549cb1cef110fc034bd3bea8f" args="" -->
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<td class="memname">struct <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html">mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3f3981f549cb1cef110fc034bd3bea8f">mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph</a></td>
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<a class="anchor" id="a9a921aef54b49bab62dc18e20913f44e"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_SFs" ref="a9a921aef54b49bab62dc18e20913f44e" args="" -->
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<td class="memname"><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_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a>> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a9a921aef54b49bab62dc18e20913f44e">mrpt::hmtslam::CLocalMetricHypothesis::m_SFs</a></td>
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<p>The SF gathered at each robot pose. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00118">118</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.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>
