PFLocalizationCore Class Reference

#include <mrpt_localization_core.h>

Inheritance diagram for PFLocalizationCore:

Public Types
enum	PFStates { NA, INIT, RUN, IDLE }

Public Member Functions
void	init ()
void	observation (CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)
	PFLocalizationCore ()
	~PFLocalizationCore ()

Protected Attributes
float	init_PDF_max_x
float	init_PDF_max_y
float	init_PDF_min_x
	any cell More...
float	init_PDF_min_y
bool	init_PDF_mode
int	initial_particle_count_
	number of particles for initialization More...
mrpt::poses::CPosePDFGaussian	initial_pose_
	initial posed used in initializeFilter() More...
CMultiMetricMap	metric_map_
	map More...
CActionRobotMovement2D::TMotionModelOptions	motion_model_default_options_
	used if there are is not odom More...
CActionRobotMovement2D::TMotionModelOptions	motion_model_options_
	used with odom value motion noise More...
mrpt::poses::CPose2D	odom_last_observation_
	correct time More...
mrpt::slam::CMonteCarloLocalization2D	pdf_
	the filter More...
mrpt::bayes::CParticleFilter	pf_
	common interface for particle filters More...
mrpt::bayes::CParticleFilter::TParticleFilterStats	pf_stats_
	filter statistics More...
PFStates	state_
	updates More...
mrpt::utils::CTicTac	tictac_
	timer to measure performance More...
mrpt::system::TTimeStamp	time_last_update_
	time of the last update More...
size_t	update_counter_
bool	use_motion_model_default_options_
	used default odom_params More...

Private Member Functions
void	initializeFilter ()
void	updateFilter (CActionCollection::Ptr _action, CSensoryFrame::Ptr _sf)

Detailed Description

Definition at line 56 of file mrpt_localization_core.h.

Member Enumeration Documentation

enum PFLocalizationCore::PFStates

Enumerator
NA
INIT
RUN
IDLE

Definition at line 61 of file mrpt_localization_core.h.

Constructor & Destructor Documentation

PFLocalizationCore::PFLocalizationCore

(

)

Definition at line 52 of file mrpt_localization_core.cpp.

PFLocalizationCore::~PFLocalizationCore

(

)

Definition at line 51 of file mrpt_localization_core.cpp.

Member Function Documentation

void PFLocalizationCore::init

(

)

Initializes the parameter with common values to acive a working filter out of the box

Definition at line 53 of file mrpt_localization_core.cpp.

void PFLocalizationCore::initializeFilter ( )

private

Initializes the filter at pose PFLocalizationCore::initial_pose_ with PFLocalizationCore::initial_particle_count_ it is called by the PFLocalizationCore::updateFilter if the state_ == INIT

Definition at line 67 of file mrpt_localization_core.cpp.

void PFLocalizationCore::observation	(	CSensoryFrame::Ptr	_sf,
		CObservationOdometry::Ptr	_odometry
	)

preprocesses an observation and calls the update PFLocalizationCore::updateFilter If the odom data is null the function will assume a dummy odometry distribution around the last pose

Parameters

_sf	sensor observation
_odometry	the odom data can also be NULL

Definition at line 123 of file mrpt_localization_core.cpp.

void PFLocalizationCore::updateFilter ( CActionCollection::Ptr  _action, CSensoryFrame::Ptr  _sf  )

private

Definition at line 113 of file mrpt_localization_core.cpp.

Member Data Documentation

float PFLocalizationCore::init_PDF_max_x

protected

Definition at line 114 of file mrpt_localization_core.h.

float PFLocalizationCore::init_PDF_max_y

protected

Definition at line 116 of file mrpt_localization_core.h.

float PFLocalizationCore::init_PDF_min_x

protected

any cell

Initial PDF boundaries

Definition at line 113 of file mrpt_localization_core.h.

float PFLocalizationCore::init_PDF_min_y

protected

Definition at line 115 of file mrpt_localization_core.h.

bool PFLocalizationCore::init_PDF_mode

protected

Initial PDF mode: 0 for free space cells, 1 for

Definition at line 111 of file mrpt_localization_core.h.

int PFLocalizationCore::initial_particle_count_

protected

number of particles for initialization

Definition at line 102 of file mrpt_localization_core.h.

mrpt::poses::CPosePDFGaussian PFLocalizationCore::initial_pose_

protected

initial posed used in initializeFilter()

Definition at line 101 of file mrpt_localization_core.h.

CMultiMetricMap PFLocalizationCore::metric_map_

protected

map

Definition at line 94 of file mrpt_localization_core.h.

CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::motion_model_default_options_

protected

used if there are is not odom

Definition at line 91 of file mrpt_localization_core.h.

CActionRobotMovement2D::TMotionModelOptions PFLocalizationCore::motion_model_options_

protected

used with odom value motion noise

Definition at line 93 of file mrpt_localization_core.h.

mrpt::poses::CPose2D PFLocalizationCore::odom_last_observation_

protected

correct time

pose at the last observation

Definition at line 110 of file mrpt_localization_core.h.

mrpt::slam::CMonteCarloLocalization2D PFLocalizationCore::pdf_

protected

the filter

Definition at line 99 of file mrpt_localization_core.h.

mrpt::bayes::CParticleFilter PFLocalizationCore::pf_

protected

common interface for particle filters

Definition at line 96 of file mrpt_localization_core.h.

mrpt::bayes::CParticleFilter::TParticleFilterStats PFLocalizationCore::pf_stats_

protected

filter statistics

Definition at line 98 of file mrpt_localization_core.h.

PFStates PFLocalizationCore::state_

protected

updates

filter states to perform things like init on the

Definition at line 107 of file mrpt_localization_core.h.

mrpt::utils::CTicTac PFLocalizationCore::tictac_

protected

timer to measure performance

Definition at line 104 of file mrpt_localization_core.h.

mrpt::system::TTimeStamp PFLocalizationCore::time_last_update_

protected

time of the last update

Definition at line 103 of file mrpt_localization_core.h.

size_t PFLocalizationCore::update_counter_

protected

internal counter to count the number of filter

Definition at line 105 of file mrpt_localization_core.h.

bool PFLocalizationCore::use_motion_model_default_options_

protected

used default odom_params

Definition at line 89 of file mrpt_localization_core.h.

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

• mrpt_localization_core.h
• mrpt_localization_core.cpp