00001 /*********************************************************************************** 00002 * Revised BSD License * 00003 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> * 00004 * All rights reserved. * 00005 * * 00006 * Redistribution and use in source and binary forms, with or without * 00007 * modification, are permitted provided that the following conditions are met: * 00008 * * Redistributions of source code must retain the above copyright * 00009 * notice, this list of conditions and the following disclaimer. * 00010 * * Redistributions in binary form must reproduce the above copyright * 00011 * notice, this list of conditions and the following disclaimer in the * 00012 * documentation and/or other materials provided with the distribution. * 00013 * * Neither the name of the Vienna University of Technology nor the * 00014 * names of its contributors may be used to endorse or promote products * 00015 * derived from this software without specific prior written permission. * 00016 * * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * 00018 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * 00019 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * 00020 * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY * 00021 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00022 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * 00023 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * 00024 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 00025 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * 00026 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * 00027 ***********************************************************************************/ 00028 00029 #ifndef MRPT_LOCALIZATION_CORE_H 00030 #define MRPT_LOCALIZATION_CORE_H 00031 00032 #include <iostream> 00033 #include <stdint.h> 00034 00035 #include <mrpt/bayes/CParticleFilter.h> 00036 #include <mrpt/slam/CActionRobotMovement2D.h> 00037 #include <mrpt/slam/CMultiMetricMap.h> 00038 #include <mrpt/poses/CPose2D.h> 00039 #include <mrpt/poses/CPosePDFGaussian.h> 00040 #include <mrpt/utils/CTicTac.h> 00041 00042 #include <mrpt_bridge/mrpt_log_macros.h> 00043 00044 #include <mrpt/slam/CMultiMetricMap.h> 00045 #include <mrpt/slam/CActionCollection.h> 00046 #include <mrpt/slam/CMonteCarloLocalization2D.h> 00047 #include <mrpt/slam/CObservationOdometry.h> 00048 #include <mrpt/slam/CSensoryFrame.h> 00049 #include <mrpt/utils/CTicTac.h> 00050 #include <mrpt/poses/CPose2D.h> 00051 00052 class PFLocalizationCore { 00053 MRPT_VIRTUAL_LOG_MACROS; 00054 public: 00055 enum PFStates {NA, INIT, RUN} ; 00056 PFLocalizationCore (); 00057 ~PFLocalizationCore(); 00061 void init(); 00068 void observation(mrpt::slam::CSensoryFramePtr _sf, mrpt::slam::CObservationOdometryPtr _odometry); 00069 protected: 00070 00071 bool use_motion_model_default_options_; 00072 mrpt::slam::CActionRobotMovement2D::TMotionModelOptions motion_model_default_options_; 00073 mrpt::slam::CActionRobotMovement2D::TMotionModelOptions motion_model_options_; 00074 mrpt::slam::CMultiMetricMap metric_map_; 00075 mrpt::bayes::CParticleFilter pf_; 00076 mrpt::bayes::CParticleFilter::TParticleFilterStats pf_stats_; 00077 mrpt::slam::CMonteCarloLocalization2D pdf_; 00078 mrpt::poses::CPosePDFGaussian initialPose_; 00079 int initialParticleCount_; 00080 mrpt::system::TTimeStamp timeLastUpdate_; 00081 mrpt::utils::CTicTac tictac_; 00082 size_t update_counter_; 00083 PFStates state_; 00084 mrpt::poses::CPose2D odomLastObservation_; 00085 00086 private: 00091 void initializeFilter(); 00092 00093 void updateFilter(mrpt::slam::CActionCollectionPtr _action, mrpt::slam::CSensoryFramePtr _sf); 00094 }; 00095 00096 #endif // MRPT_LOCALIZATION_CORE_H 00097