GMapping::GridSlamProcessor Class Reference

#include <gridslamprocessor.h>

Inheritance diagram for GMapping::GridSlamProcessor:

List of all members.

Classes
struct	Particle
struct	TNode
Public Types
typedef std::vector< Particle >	ParticleVector
typedef std::deque < GridSlamProcessor::TNode * >	TNodeDeque
typedef std::vector < GridSlamProcessor::TNode * >	TNodeVector
Public Member Functions
GridSlamProcessor *	clone () const
int	getBestParticleIndex () const
const std::vector< unsigned int > &	getIndexes () const
const ParticleVector &	getParticles () const
TNodeVector	getTrajectories () const
	GridSlamProcessor ()
	GridSlamProcessor (std::ostream &infoStr)
std::ostream &	infoStream ()
void	init (unsigned int size, double xmin, double ymin, double xmax, double ymax, double delta, OrientedPoint initialPose=OrientedPoint(0, 0, 0))
void	integrateScanSequence (TNode *node)
	MEMBER_PARAM_SET_GET (m_matcher, double, laserMaxRange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, usableRange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, gaussianSigma, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, likelihoodSigma, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, int, kernelSize, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, optAngularDelta, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, optLinearDelta, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, unsigned int, optRecursiveIterations, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, unsigned int, likelihoodSkip, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, llsamplerange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, lasamplerange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, llsamplestep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, lasamplestep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, bool, generateMap, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, bool, enlargeStep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, OrientedPoint, laserPose, protected, public, public)
virtual void	onOdometryUpdate ()
virtual void	onResampleUpdate ()
virtual void	onScanmatchUpdate ()
std::ofstream &	outputStream ()
	PARAM_SET_GET (double, minimumScore, protected, public, public)
bool	processScan (const RangeReading &reading, int adaptParticles=0)
void	processTruePos (const OdometryReading &odometry)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, double likelihoodGain=1, unsigned int likelihoodSkip=0)
void	setMotionModelParameters (double srr, double srt, double str, double stt)
void	setSensorMap (const SensorMap &smap)
void	setUpdateDistances (double linear, double angular, double resampleThreshold)
void	setUpdatePeriod (double p)
	STRUCT_PARAM_SET_GET (m_motionModel, double, srr, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, srt, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, str, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, stt, protected, public, public)
virtual	~GridSlamProcessor ()
Public Attributes
ScanMatcher	m_matcher
Protected Member Functions
	GridSlamProcessor (const GridSlamProcessor &gsp)
	PARAM_GET (double, neff, protected, public)
	PARAM_GET (double, xmin, protected, public)
	PARAM_GET (double, ymin, protected, public)
	PARAM_GET (double, xmax, protected, public)
	PARAM_GET (double, ymax, protected, public)
	PARAM_GET (double, delta, protected, public)
	PARAM_SET_GET (double, resampleThreshold, protected, public, public)
	PARAM_SET_GET (double, regScore, protected, public, public)
	PARAM_SET_GET (double, critScore, protected, public, public)
	PARAM_SET_GET (double, maxMove, protected, public, public)
	PARAM_SET_GET (double, linearThresholdDistance, protected, public, public)
	PARAM_SET_GET (double, angularThresholdDistance, protected, public, public)
	PARAM_SET_GET (double, obsSigmaGain, protected, public, public)
Protected Attributes
double	last_update_time_
double	m_angularDistance
unsigned int	m_beams
int	m_count
std::vector< unsigned int >	m_indexes
std::ostream &	m_infoStream
OrientedPoint	m_lastPartPose
double	m_linearDistance
MotionModel	m_motionModel
OrientedPoint	m_odoPose
std::ofstream	m_outputStream
ParticleVector	m_particles
OrientedPoint	m_pose
int	m_readingCount
std::vector< double >	m_weights
double	period_
Private Member Functions
void	normalize ()
double	propagateWeights ()
bool	resample (const double *plainReading, int adaptParticles, const RangeReading *rr=0)
void	resetTree ()
void	scanMatch (const double *plainReading)
void	updateTreeWeights (bool weightsAlreadyNormalized=false)

---

Detailed Description

This class defines the basic GridFastSLAM algorithm. It implements a rao blackwellized particle filter. Each particle has its own map and robot pose.
This implementation works as follows: each time a new pair odometry/laser reading is received, the particle's robot pose is updated according to the motion model. This pose is subsequently used for initalizing a scan matching algorithm. The scanmatcher performs a local optimization for each particle. It is initialized with the pose drawn from the motion model, and the pose is corrected according to the each particle map.
In order to avoid unnecessary computation the filter state is updated only when the robot moves more than a given threshold.

Definition at line 34 of file gridslamprocessor.h.

---

Member Typedef Documentation

typedef std::vector<Particle> GMapping::GridSlamProcessor::ParticleVector

Definition at line 126 of file gridslamprocessor.h.

typedef std::deque<GridSlamProcessor::TNode*> GMapping::GridSlamProcessor::TNodeDeque

Definition at line 85 of file gridslamprocessor.h.

typedef std::vector<GridSlamProcessor::TNode*> GMapping::GridSlamProcessor::TNodeVector

Definition at line 84 of file gridslamprocessor.h.

---

Constructor & Destructor Documentation

GMapping::GridSlamProcessor::GridSlamProcessor

(

)

Constructs a GridSlamProcessor, initialized with the default parameters

Definition at line 20 of file gridslamprocessor.cpp.

GMapping::GridSlamProcessor::GridSlamProcessor

(

std::ostream &

infoStr

)

Constructs a GridSlamProcessor, whose output is routed to a stream.

Parameters:

infoStr,:

the output stream

Definition at line 90 of file gridslamprocessor.cpp.

GMapping::GridSlamProcessor::~GridSlamProcessor

(

)

[virtual]

Deleted the gridslamprocessor

Definition at line 151 of file gridslamprocessor.cpp.

GMapping::GridSlamProcessor::GridSlamProcessor

(

const GridSlamProcessor &

gsp

)

[protected]

Copy constructor

Definition at line 28 of file gridslamprocessor.cpp.

---

Member Function Documentation

GridSlamProcessor * GMapping::GridSlamProcessor::clone

(

)

const

Returns:

a deep copy of the grid slam processor with all the internal structures.

Definition at line 98 of file gridslamprocessor.cpp.

int GMapping::GridSlamProcessor::getBestParticleIndex

(

)

const

Definition at line 498 of file gridslamprocessor.cpp.

const std::vector<unsigned int>& GMapping::GridSlamProcessor::getIndexes

(

)

const [inline]

Definition at line 174 of file gridslamprocessor.h.

const ParticleVector& GMapping::GridSlamProcessor::getParticles

(

)

const [inline]

Returns:

the particles

Definition at line 172 of file gridslamprocessor.h.

GridSlamProcessor::TNodeVector GMapping::GridSlamProcessor::getTrajectories

(

)

const

This method copies the state of the filter in a tree. The tree is represented through reversed pointers (each node has a pointer to its parent). The leafs are stored in a vector, whose size is the same as the number of particles.

Returns:

the leafs of the tree

Definition at line 40 of file gridslamprocessor_tree.cpp.

std::ostream & GMapping::GridSlamProcessor::infoStream

(

)

the stream used for writing the info/debug messages

Definition at line 493 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::init	(	unsigned int	size,
		double	xmin,
		double	ymin,
		double	xmax,
		double	ymax,
		double	delta,
		OrientedPoint	initialPose = OrientedPoint(0,0,0)
	)

Definition at line 268 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::integrateScanSequence

(

GridSlamProcessor::TNode *

node

)

Definition at line 121 of file gridslamprocessor_tree.cpp.

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		laserMaxRange	,
		protected	,
		public	,
		public
	)

the maxrange of the laser to consider

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		usableRange	,
		protected	,
		public	,
		public
	)

the maximum usable range of the laser. A beam is cropped to this value. [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		gaussianSigma	,
		protected	,
		public	,
		public
	)

The sigma used by the greedy endpoint matching. [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		likelihoodSigma	,
		protected	,
		public	,
		public
	)

The sigma of a beam used for likelihood computation [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		int	,
		kernelSize	,
		protected	,
		public	,
		public
	)

The kernel in which to look for a correspondence[scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		optAngularDelta	,
		protected	,
		public	,
		public
	)

The optimization step in rotation [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		optLinearDelta	,
		protected	,
		public	,
		public
	)

The optimization step in translation [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		unsigned	int,
		optRecursiveIterations	,
		protected	,
		public	,
		public
	)

The number of iterations of the scanmatcher [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		unsigned	int,
		likelihoodSkip	,
		protected	,
		public	,
		public
	)

the beams to skip for computing the likelihood (consider a beam every likelihoodSkip) [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		llsamplerange	,
		protected	,
		public	,
		public
	)

translational sampling range for the likelihood [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		lasamplerange	,
		protected	,
		public	,
		public
	)

angular sampling range for the likelihood [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		llsamplestep	,
		protected	,
		public	,
		public
	)

translational sampling range for the likelihood [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		double	,
		lasamplestep	,
		protected	,
		public	,
		public
	)

angular sampling step for the likelihood [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		bool	,
		generateMap	,
		protected	,
		public	,
		public
	)

generate an accupancy grid map [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		bool	,
		enlargeStep	,
		protected	,
		public	,
		public
	)

enlarge the map when the robot goes out of the boundaries [scanmatcher]

GMapping::GridSlamProcessor::MEMBER_PARAM_SET_GET	(	m_matcher	,
		OrientedPoint	,
		laserPose	,
		protected	,
		public	,
		public
	)

pose of the laser wrt the robot [scanmatcher]

void GMapping::GridSlamProcessor::normalize

(

)

[inline, private]

normalizes the particle weights

Definition at line 43 of file gridslamprocessor.h.

void GMapping::GridSlamProcessor::onOdometryUpdate

(

)

[virtual]

Reimplemented in GridSlamProcessorThread.

Definition at line 511 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::onResampleUpdate

(

)

[virtual]

Reimplemented in GridSlamProcessorThread.

Definition at line 510 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::onScanmatchUpdate

(

)

[virtual]

Reimplemented in GridSlamProcessorThread.

Definition at line 509 of file gridslamprocessor.cpp.

std::ofstream & GMapping::GridSlamProcessor::outputStream

(

)

the stream used for writing the output of the algorithm

Definition at line 489 of file gridslamprocessor.cpp.

GMapping::GridSlamProcessor::PARAM_GET	(	double	,
		neff	,
		protected	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_GET	(	double	,
		xmin	,
		protected	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_GET	(	double	,
		ymin	,
		protected	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_GET	(	double	,
		xmax	,
		protected	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_GET	(	double	,
		ymax	,
		protected	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_GET	(	double	,
		delta	,
		protected	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		minimumScore	,
		protected	,
		public	,
		public
	)

minimum score for considering the outcome of the scanmatching good

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		resampleThreshold	,
		protected	,
		public	,
		public
	)		[protected]

this sets the neff based resampling threshold

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		regScore	,
		protected	,
		public	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		critScore	,
		protected	,
		public	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		maxMove	,
		protected	,
		public	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		linearThresholdDistance	,
		protected	,
		public	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		angularThresholdDistance	,
		protected	,
		public	,
		public
	)		[protected]

GMapping::GridSlamProcessor::PARAM_SET_GET	(	double	,
		obsSigmaGain	,
		protected	,
		public	,
		public
	)		[protected]

bool GMapping::GridSlamProcessor::processScan	(	const RangeReading &	reading,
		int	adaptParticles = 0
	)

retireve the position from the reading, and compute the odometry

Definition at line 316 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::processTruePos

(

const OdometryReading &

odometry

)

Definition at line 306 of file gridslamprocessor.cpp.

double GMapping::GridSlamProcessor::propagateWeights

(

)

[private]

Definition at line 233 of file gridslamprocessor_tree.cpp.

bool GMapping::GridSlamProcessor::resample	(	const double *	plainReading,
		int	adaptParticles,
		const RangeReading *	rr = 0
	)		[inline, private]

Definition at line 71 of file gridslamprocessor.h.

void GMapping::GridSlamProcessor::resetTree

(

)

[private]

Definition at line 207 of file gridslamprocessor_tree.cpp.

void GMapping::GridSlamProcessor::scanMatch

(

const double *

plainReading

)

[inline, private]

scanmatches all the particles

Just scan match every single particle. If the scan matching fails, the particle gets a default likelihood.

Definition at line 10 of file gridslamprocessor.h.

void GMapping::GridSlamProcessor::setMatchingParameters	(	double	urange,
		double	range,
		double	sigma,
		int	kernsize,
		double	lopt,
		double	aopt,
		int	iterations,
		double	likelihoodSigma = 1,
		double	likelihoodGain = 1,
		unsigned int	likelihoodSkip = 0
	)

Definition at line 195 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::setMotionModelParameters	(	double	srr,
		double	srt,
		double	str,
		double	stt
	)

Definition at line 212 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::setSensorMap

(

const SensorMap &

smap

)

Definition at line 242 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::setUpdateDistances	(	double	linear,
		double	angular,
		double	resampleThreshold
	)

Definition at line 224 of file gridslamprocessor.cpp.

void GMapping::GridSlamProcessor::setUpdatePeriod

(

double

p

)

[inline]

Definition at line 151 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::STRUCT_PARAM_SET_GET	(	m_motionModel	,
		double	,
		srr	,
		protected	,
		public	,
		public
	)

odometry error in translation as a function of translation (rho/rho) [motionmodel]

GMapping::GridSlamProcessor::STRUCT_PARAM_SET_GET	(	m_motionModel	,
		double	,
		srt	,
		protected	,
		public	,
		public
	)

odometry error in translation as a function of rotation (rho/theta) [motionmodel]

GMapping::GridSlamProcessor::STRUCT_PARAM_SET_GET	(	m_motionModel	,
		double	,
		str	,
		protected	,
		public	,
		public
	)

odometry error in rotation as a function of translation (theta/rho) [motionmodel]

GMapping::GridSlamProcessor::STRUCT_PARAM_SET_GET	(	m_motionModel	,
		double	,
		stt	,
		protected	,
		public	,
		public
	)

odometry error in rotation as a function of rotation (theta/theta) [motionmodel]

void GMapping::GridSlamProcessor::updateTreeWeights

(

bool

weightsAlreadyNormalized = false

)

[private]

Definition at line 198 of file gridslamprocessor_tree.cpp.

---

Member Data Documentation

double GMapping::GridSlamProcessor::last_update_time_ [protected]

Definition at line 252 of file gridslamprocessor.h.

double GMapping::GridSlamProcessor::m_angularDistance [protected]

Definition at line 275 of file gridslamprocessor.h.

unsigned int GMapping::GridSlamProcessor::m_beams [protected]

the laser beams

Definition at line 251 of file gridslamprocessor.h.

int GMapping::GridSlamProcessor::m_count [protected]

Definition at line 271 of file gridslamprocessor.h.

std::vector<unsigned int> GMapping::GridSlamProcessor::m_indexes [protected]

the particle indexes after resampling (internally used)

Definition at line 259 of file gridslamprocessor.h.

std::ostream& GMapping::GridSlamProcessor::m_infoStream [protected]

Definition at line 306 of file gridslamprocessor.h.

OrientedPoint GMapping::GridSlamProcessor::m_lastPartPose [protected]

Definition at line 272 of file gridslamprocessor.h.

double GMapping::GridSlamProcessor::m_linearDistance [protected]

Definition at line 275 of file gridslamprocessor.h.

ScanMatcher GMapping::GridSlamProcessor::m_matcher

the scanmatcher algorithm

Definition at line 166 of file gridslamprocessor.h.

MotionModel GMapping::GridSlamProcessor::m_motionModel [protected]

the motion model

Definition at line 265 of file gridslamprocessor.h.

OrientedPoint GMapping::GridSlamProcessor::m_odoPose [protected]

Definition at line 273 of file gridslamprocessor.h.

std::ofstream GMapping::GridSlamProcessor::m_outputStream [protected]

Definition at line 303 of file gridslamprocessor.h.

ParticleVector GMapping::GridSlamProcessor::m_particles [protected]

the particles

Definition at line 256 of file gridslamprocessor.h.

OrientedPoint GMapping::GridSlamProcessor::m_pose [protected]

Definition at line 274 of file gridslamprocessor.h.

int GMapping::GridSlamProcessor::m_readingCount [protected]

Definition at line 271 of file gridslamprocessor.h.

std::vector<double> GMapping::GridSlamProcessor::m_weights [protected]

the particle weights (internally used)

Definition at line 262 of file gridslamprocessor.h.

double GMapping::GridSlamProcessor::period_ [protected]

Definition at line 253 of file gridslamprocessor.h.

---

The documentation for this class was generated from the following files:

• gridslamprocessor.h
• gridslamprocessor.cpp
• gridslamprocessor_tree.cpp