Class MonteCarloLocalization_Base

Inheritance Relationships

Base Types

  • public mrpt::system::COutputLogger

  • public mrpt::apps::BaseAppInitializableCLI

  • public mrpt::apps::BaseAppDataSource

Derived Type

Class Documentation

class MonteCarloLocalization_Base : public virtual mrpt::system::COutputLogger, public mrpt::apps::BaseAppInitializableCLI, public virtual mrpt::apps::BaseAppDataSource

MonteCarlo (Particle filter) localization wrapper class for CLI or custom applications: virtual base class, which can be used as base for custom user robotic applications.

Subclassed by mrpt::apps::MonteCarloLocalization_Rawlog

Parameters and options. See: initialize()

mrpt::config::CConfigFileMemory params

Populated in initialize(). Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.

bool allow_quit_on_esc_key = true

If true, will watch the keyboard and quit when ESC is pushed.

bool fill_out_estimated_path = false

Whether to populate out_estimated_path

Outputs and result variables

mrpt::poses::CPose3DInterpolator out_estimated_path

Controlled by flag fill_out_estimated_path

Main API

void initialize(int argc, const char **argv)

Initializes the application from CLI parameters. Refer to the manpage of pf-localization. Throws on errors.

inline void initialize(int argc, char **argv)
void run()

Runs with the current parameter set. Throws on errors.

Public Functions

MonteCarloLocalization_Base()

Public Static Attributes

static constexpr auto sect = "LocalizationExperiment"

Default name of the main configuration section in INI files for this app

Protected Functions

template<class MONTECARLO_TYPE>
void do_pf_localization()
void getGroundTruth(mrpt::poses::CPose2D &expectedPose, size_t rawlogEntry, const mrpt::math::CMatrixDouble &GT, const Clock::time_point &cur_time)
void prepareGT(const mrpt::math::CMatrixDouble &GT)

Protected Attributes

mrpt::poses::CPose2DInterpolator GT_path