9 #ifndef CRangeBearingKFSLAM2D_H
10 #define CRangeBearingKFSLAM2D_H
62 mrpt::obs::CActionCollectionPtr &action,
63 mrpt::obs::CSensoryFramePtr &SF );
75 std::vector<mrpt::math::TPoint2D> &out_landmarksPositions,
76 std::map<unsigned int,mrpt::maps::CLandmark::TLandmarkID> &out_landmarkIDs,
126 const std::string &fil,
128 const std::string &styleLandmarks = std::string(
"b"),
129 const std::string &stylePath = std::string(
"r"),
130 const std::string &styleRobot = std::string(
"r") )
const;
146 predictions_IDs.clear();
147 newly_inserted_landmarks.clear();
164 return m_last_data_association;
186 bool &out_skipPrediction
236 const size_t &idx_landmark_to_predict,
292 const size_t in_obsIdx,
293 const size_t in_idxNewFeat );
306 out_id2index = m_IDs.getInverseMap();
315 mrpt::obs::CSensoryFramePtr
m_SF;
Virtual base for Kalman Filter (EKF,IEKF,UKF) implementations.
mrpt::aligned_containers< KFArray_OBS >::vector_t vector_KFArray_OBS
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
CArrayNumeric is an array for numeric types supporting several mathematical operations (actually,...
A numeric matrix of compile-time fixed size.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot p...
const TDataAssocInfo & getLastDataAssociation() const
Returns a read-only reference to the information on the last data-association.
void getCurrentRobotPose(mrpt::poses::CPosePDFGaussian &out_robotPose) const
Returns the mean & 3x3 covariance matrix of the robot 2D pose.
void OnObservationModel(const vector_size_t &idx_landmarks_to_predict, vector_KFArray_OBS &out_predictions) const
Implements the observation prediction .
void OnNewLandmarkAddedToMap(const size_t in_obsIdx, const size_t in_idxNewFeat)
If applicable to the given problem, do here any special handling of adding a new landmark to the map.
void getLandmarkIDsFromIndexInStateVector(std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID > &out_id2index) const
void OnGetObservationsAndDataAssociation(vector_KFArray_OBS &out_z, vector_int &out_data_association, const vector_KFArray_OBS &in_all_predictions, const KFMatrix &in_S, const vector_size_t &in_lm_indices_in_S, const KFMatrix_OxO &in_R)
This is called between the KF prediction step and the update step, and the application must return th...
void OnTransitionNoise(KFMatrix_VxV &out_Q) const
Implements the transition noise covariance .
mrpt::maps::CSimpleMap m_SFs
The sequence of all the observations and the robot path (kept for debugging, statistics,...
void OnPreComputingPredictions(const vector_KFArray_OBS &in_all_prediction_means, vector_size_t &out_LM_indices_to_predict) const
This will be called before OnGetObservationsAndDataAssociation to allow the application to reduce the...
void OnTransitionModel(const KFArray_ACT &in_u, KFArray_VEH &inout_x, bool &out_skipPrediction) const
Implements the transition model .
virtual ~CRangeBearingKFSLAM2D()
Destructor.
mrpt::obs::CSensoryFramePtr m_SF
Set up by processActionObservation.
void processActionObservation(mrpt::obs::CActionCollectionPtr &action, mrpt::obs::CSensoryFramePtr &SF)
Process one new action and observations to update the map and robot pose estimate.
void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const
Returns a 3D representation of the landmarks in the map and the robot 3D position according to the cu...
void OnObservationJacobiansNumericGetIncrements(KFArray_VEH &out_veh_increments, KFArray_FEAT &out_feat_increments) const
Only called if using a numeric approximation of the observation Jacobians, this method must return th...
void loadOptions(const mrpt::utils::CConfigFileBase &ini)
Load options from a ini-like file/text.
void saveMapAndPath2DRepresentationAsMATLABFile(const std::string &fil, float stdCount=3.0f, const std::string &styleLandmarks=std::string("b"), const std::string &stylePath=std::string("r"), const std::string &styleRobot=std::string("r")) const
Save the current state of the filter (robot pose & map) to a MATLAB script which displays all the ele...
void reset()
Reset the state of the SLAM filter: The map is emptied and the robot put back to (0,...
void OnNormalizeStateVector()
This method is called after the prediction and after the update, to give the user an opportunity to n...
void OnInverseObservationModel(const KFArray_OBS &in_z, KFArray_FEAT &out_yn, KFMatrix_FxV &out_dyn_dxv, KFMatrix_FxO &out_dyn_dhn) const
If applicable to the given problem, this method implements the inverse observation model needed to ex...
TOptions options
The options for the algorithm.
mrpt::utils::bimap< mrpt::maps::CLandmark::TLandmarkID, unsigned int > m_IDs
The mapping between landmark IDs and indexes in the Pkk cov.
void OnObservationJacobians(const size_t &idx_landmark_to_predict, KFMatrix_OxV &Hx, KFMatrix_OxF &Hy) const
Implements the observation Jacobians and (when applicable) .
mrpt::obs::CActionCollectionPtr m_action
Set up by processActionObservation.
void getCurrentState(mrpt::poses::CPosePDFGaussian &out_robotPose, std::vector< mrpt::math::TPoint2D > &out_landmarksPositions, std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID > &out_landmarkIDs, mrpt::math::CVectorDouble &out_fullState, mrpt::math::CMatrixDouble &out_fullCovariance) const
Returns the complete mean and cov.
TDataAssocInfo m_last_data_association
Last data association.
void OnTransitionJacobian(KFMatrix_VxV &out_F) const
Implements the transition Jacobian .
void OnSubstractObservationVectors(KFArray_OBS &A, const KFArray_OBS &B) const
Computes A=A-B, which may need to be re-implemented depending on the topology of the individual scala...
CRangeBearingKFSLAM2D()
Default constructor.
void OnTransitionJacobianNumericGetIncrements(KFArray_VEH &out_increments) const
Only called if using a numeric approximation of the transition Jacobian, this method must return the ...
void OnGetObservationNoise(KFMatrix_OxO &out_R) const
Return the observation NOISE covariance matrix, that is, the model of the Gaussian additive noise of ...
void OnGetAction(KFArray_ACT &out_u) const
Must return the action vector u.
mrpt::math::TPoint2D landmark_point_t
Either mrpt::math::TPoint2D or mrpt::math::TPoint3D.
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
TDataAssociationMetric
Different metrics for data association, used in mrpt::slam::data_association For a comparison of both...
TDataAssociationMethod
Different algorithms for data association, used in mrpt::slam::data_association.
std::vector< int32_t > vector_int
std::vector< size_t > vector_size_t
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Information for data-association:
std::map< size_t, size_t > newly_inserted_landmarks
Map from the 0-based index within the last observation and the landmark 0-based index in the map (the...
TDataAssociationResults results
mrpt::vector_size_t predictions_IDs
mrpt::math::CMatrixTemplateNumeric< kftype > Y_pred_covs
The options for the algorithm.
float quantiles_3D_representation
Default = 3.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
TOptions()
Default values.
TDataAssociationMethod data_assoc_method
TDataAssociationMetric data_assoc_metric
TDataAssociationMetric data_assoc_IC_metric
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
double data_assoc_IC_chi2_thres
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and obser...
bool create_simplemap
Whether to fill m_SFs (default=false)
mrpt::math::CVectorFloat stds_Q_no_odo
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there i...
double data_assoc_IC_ml_threshold
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
The results from mrpt::slam::data_association.