00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CBeacon_H 00029 #define CBeacon_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/math/CMatrix.h> 00033 #include <mrpt/system/os.h> 00034 #include <mrpt/utils/CStringList.h> 00035 #include <mrpt/poses/CPoint3D.h> 00036 #include <mrpt/poses/CPointPDFParticles.h> 00037 #include <mrpt/poses/CPointPDFGaussian.h> 00038 #include <mrpt/poses/CPointPDFSOG.h> 00039 00040 #include <mrpt/opengl/CSetOfObjects.h> 00041 00042 #include <mrpt/maps/link_pragmas.h> 00043 00044 00045 namespace mrpt 00046 { 00047 namespace slam 00048 { 00049 using namespace mrpt::poses; 00050 using namespace mrpt::utils; 00051 00052 class CBeaconMap; 00053 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CBeacon, mrpt::utils::CSerializable, MAPS_IMPEXP ) 00054 00055 /** The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. 00056 * This class is used for storage within the class CBeaconMap. 00057 * The class implements the same methods than the interface "CPointPDF", and invoking them actually becomes 00058 * a mapping into the methods of the current PDF representation of the beacon, selectable by means of "m_typePDF" 00059 * \sa CBeaconMap, CPointPDFSOG 00060 */ 00061 class MAPS_IMPEXP CBeacon : public CPointPDF 00062 { 00063 // This must be added to any CSerializable derived class: 00064 DEFINE_SERIALIZABLE( CBeacon ) 00065 00066 public: 00067 /** The type for the IDs of landmarks. 00068 */ 00069 typedef int64_t TBeaconID; 00070 00071 /** See m_typePDF 00072 */ 00073 enum TTypePDF { pdfMonteCarlo = 0, pdfGauss, pdfSOG }; 00074 00075 /** Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians. 00076 * \sa m_location 00077 */ 00078 TTypePDF m_typePDF; 00079 00080 /** The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). 00081 */ 00082 CPointPDFParticles m_locationMC; 00083 00084 /** The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). 00085 */ 00086 CPointPDFGaussian m_locationGauss; 00087 00088 /** The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). 00089 */ 00090 CPointPDFSOG m_locationSOG; 00091 00092 /** An ID for the landmark (see details next...) 00093 * This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is 00094 * to provide a way for easily establishing correspondences between landmarks detected 00095 * in sequential image frames. Thus, the management of this field should be: 00096 * - In 'servers' (classes/modules/... that detect landmarks from images): A different ID must be assigned to every landmark (e.g. a sequential counter), BUT only in the case of being sure of the correspondence of one landmark with another one in the past (e.g. tracking). 00097 * - In 'clients': This field can be ignored, but if it is used, the advantage is solving the correspondence between landmarks detected in consequentive instants of time: Two landmarks with the same ID <b>correspond</b> to the same physical feature, BUT it should not be expected the inverse to be always true. 00098 * 00099 * Note that this field is never fill out automatically, it must be set by the programmer if used. 00100 */ 00101 TBeaconID m_ID; 00102 00103 /** Default constructor 00104 */ 00105 CBeacon(); 00106 00107 /** Virtual destructor 00108 */ 00109 virtual ~CBeacon(); 00110 00111 /** Returns an estimate of the point, (the mean, or mathematical expectation of the PDF). 00112 * \sa getCovariance 00113 */ 00114 void getMean(CPoint3D &mean_point) const; 00115 00116 /** Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. 00117 * \sa getMean 00118 */ 00119 void getCovarianceAndMean(CMatrixDouble33 &cov,CPoint3D &mean_point) const; 00120 00121 /** Copy operator, translating if necesary (for example, between particles and gaussian representations) 00122 */ 00123 void copyFrom(const CPointPDF &o); 00124 00125 /** Save PDF's particles to a text file. See derived classes for more information about the format of generated files. 00126 */ 00127 void saveToTextFile(const std::string &file) const; 00128 00129 /** This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which 00130 * "to project" the current pdf. Result PDF substituted the currently stored one in the object. 00131 */ 00132 void changeCoordinatesReference( const CPose3D &newReferenceBase ); 00133 00134 /** Saves a 3D representation of the beacon into a given OpenGL scene 00135 */ 00136 void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj ) const; 00137 00138 /** Gets a set of MATLAB commands which draw the current state of the beacon: 00139 */ 00140 void getAsMatlabDrawCommands( utils::CStringList &out_Str ) const; 00141 00142 /** Draw a sample from the pdf. 00143 */ 00144 void drawSingleSample(CPoint3D &outSample) const; 00145 00146 /** Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) 00147 * \param p1 The first distribution to fuse 00148 * \param p2 The second distribution to fuse 00149 * \param minMahalanobisDistToDrop If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. 00150 */ 00151 void bayesianFusion(const CPointPDF &p1,const CPointPDF &p2, const double &minMahalanobisDistToDrop = 0); 00152 00153 00154 /** Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an approximate SOG. 00155 * Note that if the beacon is a SOG itself, the number of gaussian modes will be square. 00156 * As a speed-up, if a "center point"+"maxDistanceFromCenter" is supplied (maxDistanceFromCenter!=0), those modes farther than this sphere will be discarded. 00157 * Parameters such as the stdSigma of the sensor are gathered from "myBeaconMap" 00158 * The result is one "ring" for each Gaussian mode that represent the beacon position in this object. 00159 * The position of the sensor on the robot is used to shift the resulting densities such as they represent the position of the robot, not the sensor. 00160 * \sa CBeaconMap::insertionOptions, generateRingSOG 00161 */ 00162 void generateObservationModelDistribution( 00163 const float &sensedRange, 00164 CPointPDFSOG &outPDF, 00165 const CBeaconMap *myBeaconMap, 00166 const CPoint3D &sensorPntOnRobot, 00167 const CPoint3D ¢erPoint = CPoint3D(0,0,0), 00168 const float &maxDistanceFromCenter = 0 00169 ) const; 00170 00171 /** This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time. 00172 * sensorPnt is the center of the ring/sphere, i.e. the absolute position of the range sensor. 00173 * If clearPreviousContentsOutPDF=false, the SOG modes will be added to the current contents of outPDF 00174 * If the 3x3 matrix covarianceCompositionToAdd is provided, it will be add to every Gaussian (to model the composition of uncertainty). 00175 * \sa generateObservationModelDistribution 00176 */ 00177 static void generateRingSOG( 00178 const float &sensedRange, 00179 CPointPDFSOG &outPDF, 00180 const CBeaconMap *myBeaconMap, 00181 const CPoint3D &sensorPnt, 00182 const CMatrixDouble33 *covarianceCompositionToAdd = NULL, 00183 bool clearPreviousContentsOutPDF = true, 00184 const CPoint3D ¢erPoint = CPoint3D(0,0,0), 00185 const float &maxDistanceFromCenter = 0 00186 ); 00187 00188 00189 }; // End of class definition 00190 00191 00192 } // End of namespace 00193 } // End of namespace 00194 00195 #endif
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