CMetricMapBuilderRBPF.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CMetricMapBuilderRBPF_H
#define CMetricMapBuilderRBPF_H

#include <mrpt/slam/CMetricMapBuilder.h>
#include <mrpt/slam/CMultiMetricMapPDF.h>
#include <mrpt/slam/CMultiMetricMap.h>

#include <mrpt/bayes/CParticleFilter.h>
#include <mrpt/bayes/CParticleFilterCapable.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/safe_pointers.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
namespace slam
{
        /** This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
         *   Internally, the list of particles, each containing a hypothesis for the robot path plus its associated
         *    metric map, is stored in an object of class CMultiMetricMapPDF.
         *
         *  This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation)
         *   and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood
         *   of observations is the product of the likelihood in the different maps, etc.
         *
         *   A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options.
         *   Not all the PF algorithms are implemented for all kinds of maps.
         *
     *  For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the <a href="http://www.mrpt.org/Application:RBPF-SLAM" >wiki page</a>.
         *
         *  \note Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated.
         *  \note Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.
         *  \note Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
         *
         * \sa CMetricMap   \ingroup metric_slam_grp
         */
        class SLAM_IMPEXP CMetricMapBuilderRBPF : public CMetricMapBuilder
        {
        public:
                /** The map PDF: It includes a path and associated map for each particle.
                  */
                CMultiMetricMapPDF                      mapPDF;

        protected:
        /** The configuration of the particle filter:
          */
                bayes::CParticleFilter::TParticleFilterOptions  m_PF_options;

                /** Distances (linear and angular) for inserting a new observation into the map.
                  */
                float   insertionLinDistance,insertionAngDistance;

                /** Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).
                  */
                float   localizeLinDistance,localizeAngDistance;


                mrpt::poses::CPose3DPDFGaussian odoIncrementSinceLastLocalization;      //!< Traveled distance since last localization update
                mrpt::poses::CPose3D                    odoIncrementSinceLastMapUpdate;         //!< Traveled distance since last map update

                /** A buffer: memory is actually hold within "mapPDF".
                  */
                non_copiable_ptr<CMultiMetricMap>  currentMetricMapEstimation;

        public:

                /** Options for building a CMetricMapBuilderRBPF object, passed to the constructor.
                  */
                struct SLAM_IMPEXP TConstructionOptions : public utils::CLoadableOptions
                {
                public:
                        /** Constructor
                          */
                        TConstructionOptions();

                        /** See utils::CLoadableOptions
                          */
                        void  loadFromConfigFile(
                                const mrpt::utils::CConfigFileBase  &source,
                                const std::string &section);

                        /** See utils::CLoadableOptions
                          */
                        void  dumpToTextStream(CStream  &out) const;

                        float   insertionLinDistance;
                        float   insertionAngDistance;

                        float   localizeLinDistance;
                        float   localizeAngDistance;

                        bayes::CParticleFilter::TParticleFilterOptions  PF_options;

                        TSetOfMetricMapInitializers                                     mapsInitializers;
                        CMultiMetricMapPDF::TPredictionParams           predictionOptions;
                };

                /** Constructor.
                 */
                CMetricMapBuilderRBPF( const TConstructionOptions &initializationOptions );

                /** Destructor.
                 */
                virtual ~CMetricMapBuilderRBPF( );

                /** Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.
                  */
                void  initialize(
                                const CSimpleMap                &initialMap  = CSimpleMap(),
                                CPosePDF                                        *x0 = NULL
                                );

                /** Clear all elements of the maps.
                  */
                void  clear();

                /** Returns a copy of the current best pose estimation as a pose PDF.
                  */
                CPose3DPDFPtr  getCurrentPoseEstimation() const;

                /** Returns the current most-likely path estimation (the path associated to the most likely particle).
                  */
                void  getCurrentMostLikelyPath( std::deque<TPose3D> &outPath ) const;

                /** Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.
                 *  \param action The incremental 2D pose change in the robot pose. This value is deterministic.
                 *      \param observations The set of observations that robot senses at the new pose.
                 *  Statistics will be saved to statsLastIteration
                 */
                void  processActionObservation(
                                        CActionCollection       &action,
                                        CSensoryFrame           &observations );

                /** Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
                  */
                void  getCurrentlyBuiltMap(CSimpleMap &out_map) const;

                /** Returns the map built so far. NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".
                  */
                CMultiMetricMap*   getCurrentlyBuiltMetricMap();

                /** Returns just how many sensory-frames are stored in the currently build map.
                  */
                unsigned int  getCurrentlyBuiltMapSize();

                /** A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
                  * \param file The output file name
                  * \param formatEMF_BMP Output format = true:EMF, false:BMP
                  */
                void  saveCurrentEstimationToImage(const std::string &file, bool formatEMF_BMP = true);

                /** A usefull method for debugging: draws the current map and path hypotheses to a CCanvas
                  */
                void  drawCurrentEstimationToImage( utils::CCanvas *img );

                /** A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).
                  */
                void  saveCurrentPathEstimationToTextFile( std::string  fil );

                double  getCurrentJointEntropy();

                /** This structure will hold stats after each execution of processActionObservation
                  */
                struct SLAM_IMPEXP TStats
                {
                        TStats() :
                                observationsInserted(false)
                        { }

                        /** Whether the SF has been inserted in the metric maps. */
                        bool    observationsInserted;

                };


                /** This structure will hold stats after each execution of processActionObservation
                  */
                TStats          m_statsLastIteration;

        }; // End of class def.

        } // End of namespace
} // End of namespace

#endif