.. _program_listing_file__tmp_ws_src_mrpt_navigation_mrpt_localization_include_mrpt_localization_mrpt_localization_core.h:

Program Listing for File mrpt_localization_core.h
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mrpt_navigation_mrpt_localization_include_mrpt_localization_mrpt_localization_core.h>` (``/tmp/ws/src/mrpt_navigation/mrpt_localization/include/mrpt_localization/mrpt_localization_core.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /* +------------------------------------------------------------------------+
      |                             mrpt_navigation                            |
      |                                                                        |
      | Copyright (c) 2014-2023, Individual contributors, see commit authors   |
      | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
      | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
      +------------------------------------------------------------------------+ */
   
   #pragma once
   
   #include <mrpt/bayes/CParticleFilter.h>
   #include <mrpt/maps/CMultiMetricMap.h>
   #include <mrpt/obs/CActionCollection.h>
   #include <mrpt/obs/CActionRobotMovement2D.h>
   #include <mrpt/obs/CObservationOdometry.h>
   #include <mrpt/obs/CSensoryFrame.h>
   #include <mrpt/poses/CPose2D.h>
   #include <mrpt/poses/CPosePDFGaussian.h>
   #include <mrpt/slam/CMonteCarloLocalization2D.h>
   #include <mrpt/system/CTicTac.h>
   #include <stdint.h>
   
   #include <iostream>
   using namespace mrpt::maps;
   using namespace mrpt::obs;
   
   class PFLocalizationCore
   {
      public:
       enum PFStates
       {
           NA,
           INIT,
           RUN,
           IDLE
       };
   
       PFLocalizationCore();
       ~PFLocalizationCore();
   
       void init();
       void observation(
           CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry);
   
      protected:
       bool use_motion_model_default_options_;  
       CActionRobotMovement2D::TMotionModelOptions
           motion_model_default_options_;  
       CActionRobotMovement2D::TMotionModelOptions
           motion_model_options_;  
       CMultiMetricMap::Ptr metric_map_ = CMultiMetricMap::Create();  
       mrpt::bayes::CParticleFilter
           pf_;  
       mrpt::bayes::CParticleFilter::TParticleFilterStats
           pf_stats_;  
       mrpt::slam::CMonteCarloLocalization2D pdf_;  
       mrpt::poses::CPosePDFGaussian
           initial_pose_;  
       int initial_particle_count_;  
       mrpt::system::TTimeStamp time_last_update_;  
       mrpt::system::CTicTac tictac_;  
       size_t update_counter_;  
       PFStates state_;  
       mrpt::poses::CPose2D
           odom_last_observation_;  
       bool init_PDF_mode;  
       float init_PDF_min_x;  
       float init_PDF_max_x;
       float init_PDF_min_y;
       float init_PDF_max_y;
   
      private:
       void initializeFilter();
   
       void updateFilter(CActionCollection::Ptr _action, CSensoryFrame::Ptr _sf);
   };