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create mode 100644 doc/html/c++/structpfuclt__ptcls_1_1targetObs__s.html diff --git a/doc/html/c++/CMakeCCompilerId_8c.html b/doc/html/c++/CMakeCCompilerId_8c.html index 7a12f91..4ce1655 100644 --- a/doc/html/c++/CMakeCCompilerId_8c.html +++ b/doc/html/c++/CMakeCCompilerId_8c.html @@ -9,6 +9,7 @@ @@ -292,7 +293,7 @@

Variable Documentation

pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/CMakeCCompilerId_8c_source.html b/doc/html/c++/CMakeCCompilerId_8c_source.html index 1b9238c..c479734 100644 --- a/doc/html/c++/CMakeCCompilerId_8c_source.html +++ b/doc/html/c++/CMakeCCompilerId_8c_source.html @@ -9,6 +9,7 @@ @@ -43,7 +44,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
diff --git a/doc/html/c++/CMakeCXXCompilerId_8cpp.html b/doc/html/c++/CMakeCXXCompilerId_8cpp.html index 416e392..123c3e8 100644 --- a/doc/html/c++/CMakeCXXCompilerId_8cpp.html +++ b/doc/html/c++/CMakeCXXCompilerId_8cpp.html @@ -9,6 +9,7 @@ @@ -275,7 +276,7 @@

Variable Documentation

pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/CMakeCXXCompilerId_8cpp_source.html b/doc/html/c++/CMakeCXXCompilerId_8cpp_source.html index 53c64bb..a73cd37 100644 --- a/doc/html/c++/CMakeCXXCompilerId_8cpp_source.html +++ b/doc/html/c++/CMakeCXXCompilerId_8cpp_source.html @@ -9,6 +9,7 @@ @@ -42,7 +43,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
diff --git a/doc/html/c++/annotated.html b/doc/html/c++/annotated.html new file mode 100644 index 0000000..a460bbf --- /dev/null +++ b/doc/html/c++/annotated.html @@ -0,0 +1,76 @@ + +pfuclt_omni_dataset: Class List + + + + + + + + +
+
+
Class List
+
+
+
Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 1234]
+ + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼Nmini
 ▼Ncsv
 Cifstream
 Cistringstream
 Cofstream
 Costringstream
 Csep
 ▼Npfuclt
 CRobot
    +
  • Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class
    • +
+
 CRobotFactory
    +
  • Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots
    • +
+
 ▼Npfuclt_aux
 Clandmark_sThe Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}
 CtimeEval_sThe timeEval_s struct - takes care of time difference evaluation through the ros::Time methods
 ▼Npfuclt_ptcls
 ClandmarkObs_s
 Codometry_s
 ▼CParticleFilter
 CdynamicVariables_s
 CPFinitDataThe PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleFilter instance
 ▼CStateThe state_s struct - defines a structure to hold state information for the particle filter class
 CrobotState_sThe robotState_s struct - saves information on the belief of a robot's state
 CtargetState_sThe targetState_s struct - saves information on the belief of the target's state
 ▼CPFPublisher +
 CPublishData
 CtargetObs_s
+
+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classes.html b/doc/html/c++/classes.html new file mode 100644 index 0000000..1106a22 --- /dev/null +++ b/doc/html/c++/classes.html @@ -0,0 +1,63 @@ + +pfuclt_omni_dataset: Class Index + + + + + + + + +
+
+
Class Index
+
+
+
D | I | L | O | P | R | S | T
+ + + + + + + + + + + + +
  P  
+		RobotFactory (pfuclt)   istringstream (mini::csv)   ofstream (mini::csv)   
  t  
+
  S  
+
  l  
+		ostringstream (mini::csv)   
ParticleFilter (pfuclt_ptcls)   
  r  
+		targetObs_s (pfuclt_ptcls)   
ParticleFilter::PFinitData (pfuclt_ptcls)   ParticleFilter::State (pfuclt_ptcls)   landmark_s (pfuclt_aux)   ParticleFilter::State::targetState_s (pfuclt_ptcls)   
PFPublisher (pfuclt_ptcls)   
  d  
+		landmarkObs_s (pfuclt_ptcls)   ParticleFilter::State::robotState_s (pfuclt_ptcls)   timeEval_s (pfuclt_aux)   
PFPublisher::PublishData (pfuclt_ptcls)   
  o  
+
  s  
+
  R  
+		ParticleFilter::dynamicVariables_s (pfuclt_ptcls)   
  i  
+		odometry_s (pfuclt_ptcls)   sep (mini::csv)   
Robot (pfuclt)   
ifstream (mini::csv)   
+
D | I | L | O | P | R | S | T
+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classmini_1_1csv_1_1ifstream.html b/doc/html/c++/classmini_1_1csv_1_1ifstream.html new file mode 100644 index 0000000..433070f --- /dev/null +++ b/doc/html/c++/classmini_1_1csv_1_1ifstream.html @@ -0,0 +1,50 @@ + +pfuclt_omni_dataset: mini::csv::ifstream Class Reference + + + + + + + + + +
+
+
mini::csv::ifstream Class Reference
+
+
+ +

#include <minicsv.h>

+

Detailed Description

+
+

Definition at line 116 of file minicsv.h.

+
The documentation for this class was generated from the following file: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classmini_1_1csv_1_1istringstream.html b/doc/html/c++/classmini_1_1csv_1_1istringstream.html new file mode 100644 index 0000000..56f37fc --- /dev/null +++ b/doc/html/c++/classmini_1_1csv_1_1istringstream.html @@ -0,0 +1,50 @@ + +pfuclt_omni_dataset: mini::csv::istringstream Class Reference + + + + + + + + + +
+
+
mini::csv::istringstream Class Reference
+
+
+ +

#include <minicsv.h>

+

Detailed Description

+
+

Definition at line 601 of file minicsv.h.

+
The documentation for this class was generated from the following file: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classmini_1_1csv_1_1ofstream.html b/doc/html/c++/classmini_1_1csv_1_1ofstream.html new file mode 100644 index 0000000..6081fb8 --- /dev/null +++ b/doc/html/c++/classmini_1_1csv_1_1ofstream.html @@ -0,0 +1,50 @@ + +pfuclt_omni_dataset: mini::csv::ofstream Class Reference + + + + + + + + + +
+
+
mini::csv::ofstream Class Reference
+
+
+ +

#include <minicsv.h>

+

Detailed Description

+
+

Definition at line 361 of file minicsv.h.

+
The documentation for this class was generated from the following file: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classmini_1_1csv_1_1ostringstream.html b/doc/html/c++/classmini_1_1csv_1_1ostringstream.html new file mode 100644 index 0000000..f2d4c7d --- /dev/null +++ b/doc/html/c++/classmini_1_1csv_1_1ostringstream.html @@ -0,0 +1,50 @@ + +pfuclt_omni_dataset: mini::csv::ostringstream Class Reference + + + + + + + + + +
+
+
mini::csv::ostringstream Class Reference
+
+
+ +

#include <minicsv.h>

+

Detailed Description

+
+

Definition at line 777 of file minicsv.h.

+
The documentation for this class was generated from the following file: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classmini_1_1csv_1_1sep-members.html b/doc/html/c++/classmini_1_1csv_1_1sep-members.html new file mode 100644 index 0000000..841e942 --- /dev/null +++ b/doc/html/c++/classmini_1_1csv_1_1sep-members.html @@ -0,0 +1,50 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
+
+
mini::csv::sep Member List
+
+
+ +

This is the complete list of members for mini::csv::sep, including all inherited members.

+ + + + + + +
delimitermini::csv::sepprivate
escapemini::csv::sepprivate
get_delimiter() const mini::csv::sepinline
get_escape() const mini::csv::sepinline
sep(const char delimiter_, const std::string &escape_)mini::csv::sepinline
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classmini_1_1csv_1_1sep.html b/doc/html/c++/classmini_1_1csv_1_1sep.html new file mode 100644 index 0000000..d74ad84 --- /dev/null +++ b/doc/html/c++/classmini_1_1csv_1_1sep.html @@ -0,0 +1,204 @@ + +pfuclt_omni_dataset: mini::csv::sep Class Reference + + + + + + + + + +
+
+Public Member Functions | +Private Attributes | +List of all members
+
+
mini::csv::sep Class Reference
+
+
+ +

#include <minicsv.h>

+ + + + + + + + +

+Public Member Functions

const char get_delimiter () const
 
const std::string & get_escape () const
 
 sep (const char delimiter_, const std::string &escape_)
 
+ + + + + +

+Private Attributes

const char delimiter
 
const std::string escape
 
+

Detailed Description

+
+

Definition at line 104 of file minicsv.h.

+

Constructor & Destructor Documentation

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
mini::csv::sep::sep (const char delimiter_,
const std::string & escape_ 
)
+ 		+inline
+
+ +

Definition at line 107 of file minicsv.h.

+ +
+
+

Member Function Documentation

+ +
+
+ + + + + +
+ + + + + + + +
const char mini::csv::sep::get_delimiter () const
+ 		+inline
+
+ +

Definition at line 109 of file minicsv.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
const std::string& mini::csv::sep::get_escape () const
+ 		+inline
+
+ +

Definition at line 110 of file minicsv.h.

+ +
+
+

Member Data Documentation

+ +
+
+ + + + + +
+ + + + +
const char mini::csv::sep::delimiter
+ 		+private
+
+ +

Definition at line 112 of file minicsv.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const std::string mini::csv::sep::escape
+ 		+private
+
+ +

Definition at line 113 of file minicsv.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt_1_1Robot-members.html b/doc/html/c++/classpfuclt_1_1Robot-members.html new file mode 100644 index 0000000..8ab93d2 --- /dev/null +++ b/doc/html/c++/classpfuclt_1_1Robot-members.html @@ -0,0 +1,60 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
+
+
pfuclt::Robot Member List
+
+
+ +

This is the complete list of members for pfuclt::Robot, including all inherited members.

+ + + + + + + + + + + + + + + + +
hasStarted()pfuclt::Robotinline
initPose_pfuclt::Robotprotected
landmarkDataCallback(const read_omni_dataset::LRMLandmarksData::ConstPtr &)pfuclt::Robot
odometryCallback(const nav_msgs::Odometry::ConstPtr &)pfuclt::Robot
parent_pfuclt::Robotprotected
pf_pfuclt::Robotprotected
Robot(ros::NodeHandle &nh, RobotFactory *parent, ParticleFilter *pf, uint robotNumber)pfuclt::Robot
robotNumber_pfuclt::Robotprotected
sBall_pfuclt::Robotprotected
sLandmark_pfuclt::Robotprotected
sOdom_pfuclt::Robotprotected
started_pfuclt::Robotprotected
startNow()pfuclt::Robotprotected
targetCallback(const read_omni_dataset::BallData::ConstPtr &)pfuclt::Robot
timeStarted_pfuclt::Robotprotected
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt_1_1Robot.html b/doc/html/c++/classpfuclt_1_1Robot.html new file mode 100644 index 0000000..ed7726d --- /dev/null +++ b/doc/html/c++/classpfuclt_1_1Robot.html @@ -0,0 +1,474 @@ + +pfuclt_omni_dataset: pfuclt::Robot Class Reference + + + + + + + + + +
+
+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
+
pfuclt::Robot Class Reference
+
+
+ +

The Robot class - Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class. + More...

+ +

#include <pfuclt_omni_dataset.h>

+ + + + + + + + + + + + + + + + + +

+Public Member Functions

bool hasStarted ()
 hasStarted More...
 
void landmarkDataCallback (const read_omni_dataset::LRMLandmarksData::ConstPtr &)
 landmarkDataCallback - event-driven function which should be called when new landmark data is received More...
 
void odometryCallback (const nav_msgs::Odometry::ConstPtr &)
 odometryCallback - event-driven function which should be called when new odometry data is received More...
 
 Robot (ros::NodeHandle &nh, RobotFactory *parent, ParticleFilter *pf, uint robotNumber)
 Robot - constructor, creates a new Robot instance. More...
 
void targetCallback (const read_omni_dataset::BallData::ConstPtr &)
 targetCallBack - event-driven function which should be called when new target data is received More...
 
+ + + + +

+Protected Member Functions

void startNow ()
 startNow - starts the robot More...
 
+ + + + + + + + + + + + + + + + + + + +

+Protected Attributes

Eigen::Isometry2d initPose_
 
RobotFactory * parent_
 
ParticleFilter * pf_
 
uint robotNumber_
 
ros::Subscriber sBall_
 
ros::Subscriber sLandmark_
 
ros::Subscriber sOdom_
 
bool started_
 
ros::Time timeStarted_
 
+

Detailed Description

+

The Robot class - Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class.

+ +

Definition at line 86 of file pfuclt_omni_dataset.h.

+

Constructor & Destructor Documentation

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pfuclt::Robot::Robot (ros::NodeHandle & nh,
RobotFactory * parent,
ParticleFilter * pf,
uint robotNumber 
)
+
+ +

Robot - constructor, creates a new Robot instance.

+
Parameters
+ + + + + + +
nh- reference to the node handler object
parent- reference to the robot factory creating this object
initPose- initial (x,y) pose of the robot
pf- reference to the particle filter to be used for this robot
robotNumber- the assigned number in the team
+
+
+ +

Definition at line 139 of file pfuclt_omni_dataset.cpp.

+ +
+
+

Member Function Documentation

+ +
+
+ + + + + +
+ + + + + + + +
bool pfuclt::Robot::hasStarted ()
+ 		+inline
+
+ +

hasStarted

+
Returns
+ +

Definition at line 137 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt::Robot::landmarkDataCallback (const read_omni_dataset::LRMLandmarksData::ConstPtr & landmarkData)
+
+ +

landmarkDataCallback - event-driven function which should be called when new landmark data is received

+ +

Definition at line 247 of file pfuclt_omni_dataset.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt::Robot::odometryCallback (const nav_msgs::Odometry::ConstPtr & odometry)
+
+ +

odometryCallback - event-driven function which should be called when new odometry data is received

+ +

Definition at line 162 of file pfuclt_omni_dataset.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
void pfuclt::Robot::startNow ()
+ 		+protected
+
+ +

startNow - starts the robot

+ +

Definition at line 131 of file pfuclt_omni_dataset.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt::Robot::targetCallback (const read_omni_dataset::BallData::ConstPtr & target)
+
+ +

targetCallBack - event-driven function which should be called when new target data is received

+ +

Definition at line 183 of file pfuclt_omni_dataset.cpp.

+ +
+
+

Member Data Documentation

+ +
+
+ + + + + +
+ + + + +
Eigen::Isometry2d pfuclt::Robot::initPose_
+ 		+protected
+
+ +

Definition at line 95 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
RobotFactory* pfuclt::Robot::parent_
+ 		+protected
+
+ +

Definition at line 89 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ParticleFilter* pfuclt::Robot::pf_
+ 		+protected
+
+ +

Definition at line 90 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
uint pfuclt::Robot::robotNumber_
+ 		+protected
+
+ +

Definition at line 94 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::Subscriber pfuclt::Robot::sBall_
+ 		+protected
+
+ +

Definition at line 93 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::Subscriber pfuclt::Robot::sLandmark_
+ 		+protected
+
+ +

Definition at line 93 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::Subscriber pfuclt::Robot::sOdom_
+ 		+protected
+
+ +

Definition at line 93 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
bool pfuclt::Robot::started_
+ 		+protected
+
+ +

Definition at line 91 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::Time pfuclt::Robot::timeStarted_
+ 		+protected
+
+ +

Definition at line 92 of file pfuclt_omni_dataset.h.

+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt_1_1RobotFactory-members.html b/doc/html/c++/classpfuclt_1_1RobotFactory-members.html new file mode 100644 index 0000000..bf9ee02 --- /dev/null +++ b/doc/html/c++/classpfuclt_1_1RobotFactory-members.html @@ -0,0 +1,52 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
+
+
pfuclt::RobotFactory Member List
+
+
+ +

This is the complete list of members for pfuclt::RobotFactory, including all inherited members.

+ + + + + + + + +
areAllRobotsActive()pfuclt::RobotFactoryprivate
initializeFixedLandmarks()pfuclt::RobotFactory
nh_pfuclt::RobotFactoryprivate
pfpfuclt::RobotFactory
RobotFactory(ros::NodeHandle &nh)pfuclt::RobotFactory
robots_pfuclt::RobotFactoryprivate
tryInitializeParticles()pfuclt::RobotFactory
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt_1_1RobotFactory.html b/doc/html/c++/classpfuclt_1_1RobotFactory.html new file mode 100644 index 0000000..e01c5e1 --- /dev/null +++ b/doc/html/c++/classpfuclt_1_1RobotFactory.html @@ -0,0 +1,236 @@ + +pfuclt_omni_dataset: pfuclt::RobotFactory Class Reference + + + + + + + + + +
+
+Public Member Functions | +Public Attributes | +Private Member Functions | +Private Attributes | +List of all members
+
+
pfuclt::RobotFactory Class Reference
+
+
+ +

The RobotFactory class - Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots. + More...

+ +

#include <pfuclt_omni_dataset.h>

+ + + + + + + + + + +

+Public Member Functions

void initializeFixedLandmarks ()
 initializeFixedLandmarks - will get a filename from the parameter server, and use its information to store landmark positions in the landmarks vector More...
 
 RobotFactory (ros::NodeHandle &nh)
 
void tryInitializeParticles ()
 tryInitializeParticles - checks if every robot is started, and if so, will initiate the particle filter More...
 
+ + + +

+Public Attributes

boost::shared_ptr< ParticleFilter > pf
 
+ + + + +

+Private Member Functions

bool areAllRobotsActive ()
 areAllTeammatesActive - uses each robot's public methods to check if they have started yet More...
 
+ + + + + +

+Private Attributes

ros::NodeHandle & nh_
 
std::vector< Robot_ptr > robots_
 
+

Detailed Description

+

The RobotFactory class - Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots.

+ +

Definition at line 48 of file pfuclt_omni_dataset.h.

+

Constructor & Destructor Documentation

+ +
+
+ + + + + + + + +
pfuclt::RobotFactory::RobotFactory (ros::NodeHandle & nh)
+
+ +

Definition at line 59 of file pfuclt_omni_dataset.cpp.

+ +
+
+

Member Function Documentation

+ +
+
+ + + + + +
+ + + + + + + +
bool pfuclt::RobotFactory::areAllRobotsActive ()
+ 		+private
+
+ +

areAllTeammatesActive - uses each robot's public methods to check if they have started yet

+
Returns
true if every robot is active, false otherwise
+ +

Definition at line 120 of file pfuclt_omni_dataset.cpp.

+ +
+
+ +
+
+ + + + + + + +
void pfuclt::RobotFactory::initializeFixedLandmarks ()
+
+ +

initializeFixedLandmarks - will get a filename from the parameter server, and use its information to store landmark positions in the landmarks vector

+ +

Definition at line 92 of file pfuclt_omni_dataset.cpp.

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+
+ +
+
+ + + + + + + +
void pfuclt::RobotFactory::tryInitializeParticles ()
+
+ +

tryInitializeParticles - checks if every robot is started, and if so, will initiate the particle filter

+ +

Definition at line 84 of file pfuclt_omni_dataset.cpp.

+ +
+
+

Member Data Documentation

+ +
+
+ + + + + +
+ + + + +
ros::NodeHandle& pfuclt::RobotFactory::nh_
+ 		+private
+
+ +

Definition at line 52 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + +
boost::shared_ptr<ParticleFilter> pfuclt::RobotFactory::pf
+
+ +

Definition at line 63 of file pfuclt_omni_dataset.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
std::vector<Robot_ptr> pfuclt::RobotFactory::robots_
+ 		+private
+
+ +

Definition at line 53 of file pfuclt_omni_dataset.h.

+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher-members.html b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher-members.html new file mode 100644 index 0000000..a24a739 --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher-members.html @@ -0,0 +1,131 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
+
+
pfuclt_ptcls::PFPublisher Member List
+
+
+ +

This is the complete list of members for pfuclt_ptcls::PFPublisher, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
assign(const pdata_t value)pfuclt_ptcls::ParticleFilter
assign(const pdata_t value, const uint index)pfuclt_ptcls::ParticleFilter
bufLandmarkObservations_pfuclt_ptcls::ParticleFilterprotected
bufTargetObservations_pfuclt_ptcls::ParticleFilterprotected
converged_pfuclt_ptcls::ParticleFilterprotected
copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From)pfuclt_ptcls::ParticleFilterinlineprotected
copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From, uint subFirst, uint subLast)pfuclt_ptcls::ParticleFilterinlineprotected
deltaIteration_pfuclt_ptcls::ParticleFilterprotected
durationSumpfuclt_ptcls::ParticleFilterprotected
dynamicReconfigureCallback(pfuclt_omni_dataset::DynamicConfig &)pfuclt_ptcls::ParticleFilter
dynamicVariables_pfuclt_ptcls::ParticleFilterprotected
estimate()pfuclt_ptcls::ParticleFilterprotected
estimatePublisher_pfuclt_ptcls::PFPublisherprivate
fuseRobots()pfuclt_ptcls::ParticleFilterprotected
fuseTarget()pfuclt_ptcls::ParticleFilterprotected
getPFReference()pfuclt_ptcls::PFPublisherinline
GT_sub_pfuclt_ptcls::PFPublisherprivate
gtDataCallback(const read_omni_dataset::LRMGTData::ConstPtr &)pfuclt_ptcls::PFPublisher
init()pfuclt_ptcls::ParticleFilter
init(const std::vector< double > &customRandInit, const std::vector< double > &customPosInit)pfuclt_ptcls::ParticleFilter
initialized_pfuclt_ptcls::ParticleFilterprotected
isInitialized()pfuclt_ptcls::ParticleFilterinline
iteration_osspfuclt_ptcls::ParticleFilter
iterationEvalTime_pfuclt_ptcls::ParticleFilterprotected
landmarksMap_pfuclt_ptcls::ParticleFilterprotected
latestObservationTime_pfuclt_ptcls::ParticleFilterprotected
mainRobotID_pfuclt_ptcls::ParticleFilterprotected
maxDeltaIteration_pfuclt_ptcls::ParticleFilterprotected
modifiedMultinomialResampler(uint startAt)pfuclt_ptcls::ParticleFilterprotected
msg_estimate_pfuclt_ptcls::PFPublisherprivate
msg_GT_pfuclt_ptcls::PFPublisherprivate
msg_particles_pfuclt_ptcls::PFPublisherprivate
nextIteration()pfuclt_ptcls::PFPublishervirtual
nh_pfuclt_ptcls::ParticleFilterprotected
nLandmarks_pfuclt_ptcls::ParticleFilterprotected
nParticles_pfuclt_ptcls::ParticleFilterprotected
nRobots_pfuclt_ptcls::ParticleFilterprotected
nStatesPerRobot_pfuclt_ptcls::ParticleFilterprotected
nSubParticleSets_pfuclt_ptcls::ParticleFilterprotected
nTargets_pfuclt_ptcls::ParticleFilterprotected
numberIterationspfuclt_ptcls::ParticleFilterprotected
O_TARGETpfuclt_ptcls::ParticleFilter
O_WEIGHTpfuclt_ptcls::ParticleFilter
odometryTime_pfuclt_ptcls::ParticleFilterprotected
operator[](int index)pfuclt_ptcls::ParticleFilterinline
operator[](int index) const pfuclt_ptcls::ParticleFilterinline
ParticleFilter(struct PFinitData &data)pfuclt_ptcls::ParticleFilter
particlePublisher_pfuclt_ptcls::PFPublisherprivate
particles_pfuclt_ptcls::ParticleFilterprotected
particleStdPublishers_pfuclt_ptcls::PFPublisherprivate
PFPublisher(struct ParticleFilter::PFinitData &data, struct PublishData publishData)pfuclt_ptcls::PFPublisher
predict(const uint robotNumber, const Odometry odom, const ros::Time stamp)pfuclt_ptcls::ParticleFilter
predictTarget()pfuclt_ptcls::ParticleFilterprotected
printWeights(std::string pre)pfuclt_ptcls::ParticleFilter
pubDatapfuclt_ptcls::PFPublisherprivate
publishEstimate()pfuclt_ptcls::PFPublisherprivate
publishGTData()pfuclt_ptcls::PFPublisherprivate
publishParticles()pfuclt_ptcls::PFPublisherprivate
publishRobotStates()pfuclt_ptcls::PFPublisherprivate
publishTargetObservations()pfuclt_ptcls::PFPublisherprivate
publishTargetState()pfuclt_ptcls::PFPublisherprivate
resample()pfuclt_ptcls::ParticleFilterprotected
resetWeights(pdata_t val)pfuclt_ptcls::ParticleFilterinlineprotected
resize_particles(const uint n)pfuclt_ptcls::PFPublisherinlinevirtual
robotBroadcasterspfuclt_ptcls::PFPublisherprivate
robotEstimatePublishers_pfuclt_ptcls::PFPublisherprivate
robotGTPublishers_pfuclt_ptcls::PFPublisherprivate
robotsUsed_pfuclt_ptcls::ParticleFilterprotected
saveAllLandmarkMeasurementsDone(const uint robotNumber)pfuclt_ptcls::ParticleFilter
saveAllTargetMeasurementsDone(const uint robotNumber)pfuclt_ptcls::ParticleFilter
savedLatestObservationTime_pfuclt_ptcls::ParticleFilterprotected
saveLandmarkObservation(const uint robotNumber, const uint landmarkNumber, const LandmarkObservation obs, ros::Time stamp)pfuclt_ptcls::ParticleFilterinline
saveLandmarkObservation(const uint robotNumber, const uint landmarkNumber, const bool found)pfuclt_ptcls::ParticleFilterinline
saveTargetObservation(const uint robotNumber, const TargetObservation obs, ros::Time stamp)pfuclt_ptcls::ParticleFilterinline
saveTargetObservation(const uint robotNumber, const bool found)pfuclt_ptcls::ParticleFilterinline
seed_pfuclt_ptcls::ParticleFilterprotected
size()pfuclt_ptcls::ParticleFilterinline
spreadTargetParticlesSphere(float particlesRatio, pdata_t center[3], float radius)pfuclt_ptcls::ParticleFilterprotected
state_pfuclt_ptcls::ParticleFilterprotected
targetEstimatePublisher_pfuclt_ptcls::PFPublisherprivate
targetGTPublisher_pfuclt_ptcls::PFPublisherprivate
targetIterationTime_pfuclt_ptcls::ParticleFilterprotected
targetObservationsPublisher_pfuclt_ptcls::PFPublisherprivate
targetParticlePublisher_pfuclt_ptcls::PFPublisherprivate
updateTargetIterationTime(ros::Time tRos)pfuclt_ptcls::ParticleFilterinline
weightComponents_pfuclt_ptcls::ParticleFilterprotected
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher.html b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher.html new file mode 100644 index 0000000..c18c567 --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher.html @@ -0,0 +1,934 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::PFPublisher Class Reference + + + + + + + + + +
+
+Classes | +Public Member Functions | +Private Member Functions | +Private Attributes | +List of all members
+
+
pfuclt_ptcls::PFPublisher Class Reference
+
+
+ +

The PFPublisher class - implements publishing for the ParticleFilter class using ROS. + More...

+ +

#include <pfuclt_particles.h>

+
+Inheritance diagram for pfuclt_ptcls::PFPublisher:
+
+
Inheritance graph
+ + + +
[legend]
+ + + + +

+Classes

struct  PublishData
 
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+Public Member Functions

ParticleFilter * getPFReference ()
 getPFReference - retrieve a reference to the base class's members More...
 
void gtDataCallback (const read_omni_dataset::LRMGTData::ConstPtr &)
 gtDataCallback - callback of ground truth data More...
 
void nextIteration ()
 nextIteration - extends the base class method to add the ROS publishing More...
 
 PFPublisher (struct ParticleFilter::PFinitData &data, struct PublishData publishData)
 PFPublisher - constructor. More...
 
void resize_particles (const uint n)
 resize_particles - change to a different number of particles and resize the publishing message More...
 
- Public Member Functions inherited from pfuclt_ptcls::ParticleFilter
void assign (const pdata_t value)
 assign - assign a value to every particle in all subsets More...
 
void assign (const pdata_t value, const uint index)
 assign - assign a value to every particle in one subset More...
 
void dynamicReconfigureCallback (pfuclt_omni_dataset::DynamicConfig &)
 dynamicReconfigureCallback - Dynamic reconfigure callback for dynamically setting variables during runtime More...
 
ParticleFilter * getPFReference ()
 getPFReference - retrieve a reference to this object - to be overloaded by deriving classes so that the base class can be returned More...
 
void init ()
 init - initialize the particle filter set with the default randomized values More...
 
void init (const std::vector< double > &customRandInit, const std::vector< double > &customPosInit)
 init - initialize the particle filter set with custom values More...
 
bool isInitialized ()
 isInitialized - simple interface to access private member initialized_ More...
 
subparticles_t & operator[] (int index)
 operator [] - array subscripting access to the private particle set More...
 
const subparticles_t & operator[] (int index) const
 operator [] - const version of the array subscripting access, when using it on const intantiations of the class More...
 
 ParticleFilter (struct PFinitData &data)
 ParticleFilter - constructor. More...
 
void predict (const uint robotNumber, const Odometry odom, const ros::Time stamp)
 predict - prediction step in the particle filter set with the received odometry More...
 
void printWeights (std::string pre)
 printWeights More...
 
void saveAllLandmarkMeasurementsDone (const uint robotNumber)
 saveAllLandmarkMeasurementsDone - call this function when all landmark measurements have been performed by a certain robot More...
 
void saveAllTargetMeasurementsDone (const uint robotNumber)
 saveAllTargetMeasurementsDone - call this function when all target measurements have been performed by a certain robot More...
 
void saveLandmarkObservation (const uint robotNumber, const uint landmarkNumber, const LandmarkObservation obs, ros::Time stamp)
 saveLandmarkObservation - saves the landmark observation to a buffer of observations More...
 
void saveLandmarkObservation (const uint robotNumber, const uint landmarkNumber, const bool found)
 saveLandmarkObservation - change the measurement buffer state More...
 
void saveTargetObservation (const uint robotNumber, const TargetObservation obs, ros::Time stamp)
 saveTargetObservation - saves the target observation to a buffer of observations More...
 
void saveTargetObservation (const uint robotNumber, const bool found)
 saveTargetObservation - change the measurement buffer state More...
 
std::size_t size ()
 size - interface to the size of the particle filter More...
 
void updateTargetIterationTime (ros::Time tRos)
 updateTargetIterationTime - the main robot should call this method after the target callback More...
 
+ + + + + + + + + + + + + +

+Private Member Functions

void publishEstimate ()
 
void publishGTData ()
 
void publishParticles ()
 
void publishRobotStates ()
 
void publishTargetObservations ()
 
void publishTargetState ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Private Attributes

ros::Publisher estimatePublisher_
 
ros::Subscriber GT_sub_
 
read_omni_dataset::Estimate msg_estimate_
 
read_omni_dataset::LRMGTData msg_GT_
 
pfuclt_omni_dataset::particles msg_particles_
 
ros::Publisher particlePublisher_
 
std::vector< ros::Publisher > particleStdPublishers_
 
struct PublishData pubData
 
std::vector< tf2_ros::TransformBroadcaster > robotBroadcasters
 
std::vector< ros::Publisher > robotEstimatePublishers_
 
std::vector< ros::Publisher > robotGTPublishers_
 
ros::Publisher targetEstimatePublisher_
 
ros::Publisher targetGTPublisher_
 
ros::Publisher targetObservationsPublisher_
 
ros::Publisher targetParticlePublisher_
 
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+Additional Inherited Members

- Public Attributes inherited from pfuclt_ptcls::ParticleFilter
boost::shared_ptr< std::ostringstream > iteration_oss
 
uint O_TARGET
 
uint O_WEIGHT
 
- Protected Member Functions inherited from pfuclt_ptcls::ParticleFilter
void copyParticle (particles_t &p_To, particles_t &p_From, uint i_To, uint i_From)
 copyParticle - copies a whole particle from one particle set to another More...
 
void copyParticle (particles_t &p_To, particles_t &p_From, uint i_To, uint i_From, uint subFirst, uint subLast)
 copyParticle - copies some subparticle sets of a particle from one particle set to another More...
 
void estimate ()
 estimate - state estimation through weighted means of particle weights More...
 
void fuseRobots ()
 fuseRobots - fuse robot states step More...
 
void fuseTarget ()
 fuseTarget - fuse target state step More...
 
void modifiedMultinomialResampler (uint startAt)
 modifiedMultinomialResampler - a costly resampler that keeps 50% of the particles and implements the multinomial resampler on the rest More...
 
void predictTarget ()
 predictTarget - predict target state step More...
 
void resample ()
 resample - the resampling step More...
 
void resetWeights (pdata_t val)
 resetWeights - assign the value val to all particle weights More...
 
void spreadTargetParticlesSphere (float particlesRatio, pdata_t center[3], float radius)
 spreadTargetParticlesSphere - spread a percentage of the target particle in a sphere around center More...
 
- Protected Attributes inherited from pfuclt_ptcls::ParticleFilter
std::vector< std::vector< LandmarkObservation > > bufLandmarkObservations_
 
std::vector< TargetObservation > bufTargetObservations_
 
bool converged_
 
ros::WallDuration deltaIteration_
 
ros::WallDuration durationSum
 
struct pfuclt_ptcls::ParticleFilter::dynamicVariables_s dynamicVariables_
 
bool initialized_
 
ros::WallTime iterationEvalTime_
 
const std::vector< Landmark > & landmarksMap_
 
ros::Time latestObservationTime_
 
const uint mainRobotID_
 
ros::WallDuration maxDeltaIteration_
 
ros::NodeHandle & nh_
 
const uint nLandmarks_
 
uint nParticles_
 
const uint nRobots_
 
const uint nStatesPerRobot_
 
const uint nSubParticleSets_
 
const uint nTargets_
 
uint16_t numberIterations
 
TimeEval odometryTime_
 
particles_t particles_
 
const std::vector< bool > & robotsUsed_
 
ros::Time savedLatestObservationTime_
 
RNGType seed_
 
struct State state_
 
TimeEval targetIterationTime_
 
particles_t weightComponents_
 
+

Detailed Description

+

The PFPublisher class - implements publishing for the ParticleFilter class using ROS.

+ +

Definition at line 561 of file pfuclt_particles.h.

+

Constructor & Destructor Documentation

+ +
+
+ + + + + + + + + + + + + + + + + + +
pfuclt_ptcls::PFPublisher::PFPublisher (struct ParticleFilter::PFinitData & data,
struct PublishData publishData 
)
+
+ +

PFPublisher - constructor.

+
Parameters
+ + + +
data- a structure with the necessary initializing data for the ParticleFilter class
publishData- a structure with some more data for this class
+
+
+ +

Definition at line 841 of file pfuclt_particles.cpp.

+ +
+
+

Member Function Documentation

+ +
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+ + + + + +
+ + + + + + + +
ParticleFilter* pfuclt_ptcls::PFPublisher::getPFReference ()
+ 		+inline
+
+ +

getPFReference - retrieve a reference to the base class's members

+
Remarks
C++ surely is awesome
+
Returns
returns a reference to the base ParticleFilter for this object
+ +

Definition at line 636 of file pfuclt_particles.h.

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void pfuclt_ptcls::PFPublisher::gtDataCallback (const read_omni_dataset::LRMGTData::ConstPtr & gtMsgReceived)
+
+ +

gtDataCallback - callback of ground truth data

+ +

Definition at line 1175 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::nextIteration ()
+ 		+virtual
+
+ +

nextIteration - extends the base class method to add the ROS publishing

+ +

Reimplemented from pfuclt_ptcls::ParticleFilter.

+ +

Definition at line 1181 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::publishEstimate ()
+ 		+private
+
+ +

Definition at line 1039 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::publishGTData ()
+ 		+private
+
+ +

Definition at line 1122 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::publishParticles ()
+ 		+private
+
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Definition at line 905 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::publishRobotStates ()
+ 		+private
+
+ +

Definition at line 967 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::publishTargetObservations ()
+ 		+private
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+ +

Definition at line 1049 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::publishTargetState ()
+ 		+private
+
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Definition at line 1011 of file pfuclt_particles.cpp.

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void pfuclt_ptcls::PFPublisher::resize_particles (const uint n)
+ 		+inlinevirtual
+
+ +

resize_particles - change to a different number of particles and resize the publishing message

+
Parameters
+ + +
n- the desired number of particles
+
+
+ +

Reimplemented from pfuclt_ptcls::ParticleFilter.

+ +

Definition at line 582 of file pfuclt_particles.h.

+ +
+
+

Member Data Documentation

+ +
+
+ + + + + +
+ + + + +
ros::Publisher pfuclt_ptcls::PFPublisher::estimatePublisher_
+ 		+private
+
+ +

Definition at line 599 of file pfuclt_particles.h.

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ros::Subscriber pfuclt_ptcls::PFPublisher::GT_sub_
+ 		+private
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Definition at line 598 of file pfuclt_particles.h.

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read_omni_dataset::Estimate pfuclt_ptcls::PFPublisher::msg_estimate_
+ 		+private
+
+ +

Definition at line 608 of file pfuclt_particles.h.

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read_omni_dataset::LRMGTData pfuclt_ptcls::PFPublisher::msg_GT_
+ 		+private
+
+ +

Definition at line 606 of file pfuclt_particles.h.

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pfuclt_omni_dataset::particles pfuclt_ptcls::PFPublisher::msg_particles_
+ 		+private
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Definition at line 607 of file pfuclt_particles.h.

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ros::Publisher pfuclt_ptcls::PFPublisher::particlePublisher_
+ 		+private
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Definition at line 599 of file pfuclt_particles.h.

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std::vector<ros::Publisher> pfuclt_ptcls::PFPublisher::particleStdPublishers_
+ 		+private
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Definition at line 601 of file pfuclt_particles.h.

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struct PublishData pfuclt_ptcls::PFPublisher::pubData
+ 		+private
+
+ +

Definition at line 612 of file pfuclt_particles.h.

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std::vector<tf2_ros::TransformBroadcaster> pfuclt_ptcls::PFPublisher::robotBroadcasters
+ 		+private
+
+ +

Definition at line 610 of file pfuclt_particles.h.

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std::vector<ros::Publisher> pfuclt_ptcls::PFPublisher::robotEstimatePublishers_
+ 		+private
+
+ +

Definition at line 603 of file pfuclt_particles.h.

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std::vector<ros::Publisher> pfuclt_ptcls::PFPublisher::robotGTPublishers_
+ 		+private
+
+ +

Definition at line 602 of file pfuclt_particles.h.

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ros::Publisher pfuclt_ptcls::PFPublisher::targetEstimatePublisher_
+ 		+private
+
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Definition at line 599 of file pfuclt_particles.h.

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+ + + + +
ros::Publisher pfuclt_ptcls::PFPublisher::targetGTPublisher_
+ 		+private
+
+ +

Definition at line 599 of file pfuclt_particles.h.

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+
+ +
+
+ + + + + +
+ + + + +
ros::Publisher pfuclt_ptcls::PFPublisher::targetObservationsPublisher_
+ 		+private
+
+ +

Definition at line 604 of file pfuclt_particles.h.

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+ +
+
+ + + + + +
+ + + + +
ros::Publisher pfuclt_ptcls::PFPublisher::targetParticlePublisher_
+ 		+private
+
+ +

Definition at line 599 of file pfuclt_particles.h.

+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.map b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.map new file mode 100644 index 0000000..3407b8f --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.map @@ -0,0 +1,3 @@ + + + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.md5 b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.md5 new file mode 100644 index 0000000..0725f5b --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.md5 @@ -0,0 +1 @@ +5c4be85265bb4a48515ff4448eb99fab \ No newline at end of file diff --git a/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.png b/doc/html/c++/classpfuclt__ptcls_1_1PFPublisher__inherit__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..4c900860766ce18ee0ec86a210ad4d7a348b6bb7 GIT binary patch literal 3506 zcmcha_d8r$+sC&OC5R-5C_yAj2ttZ(aO5bHBhh2j;E;^ohcKg@5QI@8>L?LpLi7xx zj1Vm&x-d%gKI#aD8J>O4^TYd|_YZj2zV=?%-q*eMb?>#-{r!A*%p*fxjWb81^qd0 z{-6tqbhl>`S8c0$D%6h|a9UksEX^Ve+(c*#$EBqo@=o3Sm!fsj;uV?U-9;A}MEy)e z5?qov1QRI{oN8o!e^YN!`+BnOyNBwhb<1E~IC*e)&Lk+LyYYGxQuP z7yVXJ^Zackq7^XLp9eXAafS0Q#v_KSU;e~j783ed>p49+ncXxj5+I@ccgqN(pvj%W zD5{Z#MeRcJdENYmhKBt7aGSQf9)3rAtA&G+N|#gvNVnd9p)qUI)4~%qQ6ks-g;`j$ zDA(lV(4F%#k~%jp`6>xou~s}mo?{b2r=_PWsj0b5{FH&ur$@xVNLa^;c!;=!gtU~@ z(a}*Un=n8B?#_;7=KG+*krA;Zz0Jvb@_IRb&F}Nx-rfs?xgA7q=svN))!s4N*GPiy z0kZiMJ=WB~$kfZL!hbfn2?>Y8pS@j*DK9U_;~@YeBcq^dz)eZXr_RnDLqonN$sr*j z1_lOhZ^PrYdhcTxE9R(Lxx~z@tZUbM-j+S9J;|2PMhije< z6?F=Wz}mU`(ap8>bq@F|K0!gou)4as@bK`QoSce^Tj83T7F7b5UvpkjsqvogI5{~1 zGy9&UNT!7B8wI@d$0U;pi$1)(X&*jF#poEDn6xeW@SHt!-^dudH&*HB#}vQ^l-V?h zrx9G7oxeKl{P<{PhnPJR`_@T;FO3koj0x=M=zzPr(%Hk|v72HV8qH;8Wwo_|`Hsbs zAL{B56FB$(&QzcJ!K6fPNb8T5yb*Z3OOO3O>31*s?4o2ty)ib9g%EH-(-Xm*<4zE} z-4gdjFW3alcf=PJiMNV;TzQ>sCzblSzCJZAO`7{`ldW7DVR>nZWvX%-A}cE^FE3x~ zG4)o`pkQFKF(}1w_jn7>&@wY4VwJ@MW+J7gW-Xf3zlg)(igS^f3cm_J`Y!ic?nQe` zMPjcxk~pOgg!f{&0Z~y=@N;_ZI(7sd?{9#qd~STw7R4cOZwzPRgOrmikK>hllbXuI z!=rvmC4(Vx2?^o{ca@a7t~+`8`!|Ii2Y7gtY3C!>u*GB1;M;l%tCaQ!1_r{y036Jh z|Eq(%C9d9-G03TuO4V+-2rw}*(K9f_3-p)#Iy_XODcri1NO_6a82?n>eDn4N5 zRH}jh?m~A=OiWKtPhFkT{2whL{ZH>$;oK-I1?bNW4V=OnJsJyha}KiK=EfKp7?_!v zR}a?r_WT|`MDvVyVOe&&9L!s*xXrAr1o-*a*4Fs>_$c#eNYxO38eLcrFaINJYtrH(4?lnKLRZr8uqgxr z2@tWmXyR#^{_Ecpr>Qzc@Z@MBdPh*aDaDQQ#tAR;Q z*1murki8Vw*4EbT?v`MqViVPWa6q)%ZaJ1?i8+Hp?(FUL^!D1a-?+0RYb*mVeyMzk z#0i1m!Hn7ywIkzR{uaK@_AhzkIyQ;KhiSgyEGQ^ILrxAMAI5kIDk>^<))OI)E2muN z(7b(%!4pcob?a^iY1A-ha=XMZF5_U%(M>&B^{Fu^mEC~CZ(U+RfPNjqK>$#OJ* z6}B-+tZo8CQn0G3%p{pkBTbaryCzzZbr~HXJF0*EvxBE{0zDWQA8%1-EdlheF2Ssh zO+PU2n=hQtg8;zmZ_MuQrz5LE9;$cvr|_qtZOzGojC;&L3x!N0so#ihd*;^YrmLR7 zaKr%QRqj-!3{6i)p?mnnT;DIM~0mMSX1JFeBRJ1F_rtwa^JxOGx* zzWEd3I%^MI-RN+>2h`>thldCsA0H>Dg+ZteNzceANk>%v{T3#KEZ)~+ zV`E=Qd!POfA@`WITi@V0t&NO!$bAq+Ma4dd6NskeUd+bE#=X~1QmCK=J|MQW&1bme zP`2ARX*3$gIr*B}S}yIS8?Uf6lB(k3ML1jlYnjeikFY|Sp1fX#bVL#e*O-QKl>u$tt41q z>#e_nX`n6*>U`%CLe~cWf&<(8`%7dBs1^o=gHuzO(5EL?*;)w%X=&;8Bwc%kQX=XV z8r}Kzt6yLsh!k-#vD7zjG!WY}k(?Sp*hi~c1&*g($p7^ry7glXs7 zFFQqBjowg(0Db`h&9waqZ*T8s&z`xvyEE;we`8WoRvxhFLA^;oug#06?m}TOn6dF- z?KHAv;3+#3G?4>nYH9+J%*x8zi54z)^;5w-l6+ujh@6jCG=M@s!DKMSwY7?3VukqW z%+4p4c!)b3K8{D7hBGkB+BJu)4P&>Oj}yx7jGpvl+{R!qVq#*`A>{8}U3%{BGRN=R zz2g3n>ko2xst@6fjK9BsL%@a#VmlA^kqHn&cP^7x?~xRM_apFBgF;iOt;u>57>xhI zg-ZB{)c#eb4#mIDr_|tZLTZSLckdR~MoJ_Mvu}CW8{Px_{Qb==EO@!Oso=UQWUvDu z>veT?LEX2uwMEW%aO6MIt1T@lnW%Po`1tYVAdf#BXh*vz$6L&2&d{|y-)fTJKI`b{ z*u7x|gH=^k8%Y1y5?w~UXZpvw!UGY;13_LhIJX~3M3hpjodwUzSA9)iM z1V3KCaKfU;c+F~@T=Ojr9TRJ7>Rg;$@^254v$CL^%Ts~V>cM*}py~4HZ^?E8^z`+; z0|QZ%#WXt2{6~nOAPfZ6Tw3b(Yi$IHL|R%}nwgn_Far`Xm?n=Ym8y%rkGD93?Sb=x zg49tvREBGZ8pO%LA%f@`{ny{^AM|o^qQQ~?**xEgF1N#LsH@Y6E;4FgBe&_kOkR!4 zy}_PS)GE|FJp9`Gd4!v%rzbGub%G=#PQ}-gP-NiO9I)a!c8FO<9{z0czTwN?Y^i{NC*`)4Dd!ROH+2|$SC#f zyRJVj>t1lG#%RrNY}i;?P5k`3AvY(LgLlq=vU^k=_Uq(*X{n&F@F`fR@w~j__23pY zC`=|Ae{FAPebJhqpFcZ0TUDj7bebG*{A@OqST@`nUEc);vme0`II=kB|rRtB}ao6%I%04=xN$i}Q;NEyV+4G%w9m69a zKv*W5NsUOCHzw!g^lD6y5sgy~ffnZGIV%2Aii)+>)m*^f(9j6nABk*+eN2dr{np#- z>_R>`K)-r5*&O=Z)peb!>K_o`{I-iSH95IUCcDDn=Rp4$umJ<@q}&2%4Z+nes=Y$0 z;*eJsxC53Hg+i&Wt_DpD+`!-)IO*&T-@EU1_hMAhLh6|*DFq{NyWrJA5{YztumyRG z;OgU@_fnz{5A#ByD&>Mz42ub|>FMd90lcCbP$9i@!lvDt`KujNv+s)2HTB#~zP#8= zpG>}9|8W@EIUh>h>AaWL8W#6*KJ5RHcIbF0Dk^FkdF&ojD01#4D~dGLkXA1jc2oFg s@cKv4_X?P1)*)j>*y~RJg@zpn>*yTyu8fKa_!9=`-#64L)3%TJ50yUbH2?qr literal 0 HcmV?d00001 diff --git a/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter-members.html b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter-members.html new file mode 100644 index 0000000..81fd028 --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter-members.html @@ -0,0 +1,110 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
+
+
pfuclt_ptcls::ParticleFilter Member List
+
+
+ +

This is the complete list of members for pfuclt_ptcls::ParticleFilter, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
assign(const pdata_t value)pfuclt_ptcls::ParticleFilter
assign(const pdata_t value, const uint index)pfuclt_ptcls::ParticleFilter
bufLandmarkObservations_pfuclt_ptcls::ParticleFilterprotected
bufTargetObservations_pfuclt_ptcls::ParticleFilterprotected
converged_pfuclt_ptcls::ParticleFilterprotected
copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From)pfuclt_ptcls::ParticleFilterinlineprotected
copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From, uint subFirst, uint subLast)pfuclt_ptcls::ParticleFilterinlineprotected
deltaIteration_pfuclt_ptcls::ParticleFilterprotected
durationSumpfuclt_ptcls::ParticleFilterprotected
dynamicReconfigureCallback(pfuclt_omni_dataset::DynamicConfig &)pfuclt_ptcls::ParticleFilter
dynamicServer_pfuclt_ptcls::ParticleFilterprivate
dynamicVariables_pfuclt_ptcls::ParticleFilterprotected
estimate()pfuclt_ptcls::ParticleFilterprotected
fuseRobots()pfuclt_ptcls::ParticleFilterprotected
fuseTarget()pfuclt_ptcls::ParticleFilterprotected
getPFReference()pfuclt_ptcls::ParticleFilterinline
init()pfuclt_ptcls::ParticleFilter
init(const std::vector< double > &customRandInit, const std::vector< double > &customPosInit)pfuclt_ptcls::ParticleFilter
initialized_pfuclt_ptcls::ParticleFilterprotected
isInitialized()pfuclt_ptcls::ParticleFilterinline
iteration_osspfuclt_ptcls::ParticleFilter
iterationEvalTime_pfuclt_ptcls::ParticleFilterprotected
landmarksMap_pfuclt_ptcls::ParticleFilterprotected
latestObservationTime_pfuclt_ptcls::ParticleFilterprotected
mainRobotID_pfuclt_ptcls::ParticleFilterprotected
maxDeltaIteration_pfuclt_ptcls::ParticleFilterprotected
modifiedMultinomialResampler(uint startAt)pfuclt_ptcls::ParticleFilterprotected
mutex_pfuclt_ptcls::ParticleFilterprivate
nextIteration()pfuclt_ptcls::ParticleFilterinlineprotectedvirtual
nh_pfuclt_ptcls::ParticleFilterprotected
nLandmarks_pfuclt_ptcls::ParticleFilterprotected
nParticles_pfuclt_ptcls::ParticleFilterprotected
nRobots_pfuclt_ptcls::ParticleFilterprotected
nStatesPerRobot_pfuclt_ptcls::ParticleFilterprotected
nSubParticleSets_pfuclt_ptcls::ParticleFilterprotected
nTargets_pfuclt_ptcls::ParticleFilterprotected
numberIterationspfuclt_ptcls::ParticleFilterprotected
O_TARGETpfuclt_ptcls::ParticleFilter
O_WEIGHTpfuclt_ptcls::ParticleFilter
odometryTime_pfuclt_ptcls::ParticleFilterprotected
operator[](int index)pfuclt_ptcls::ParticleFilterinline
operator[](int index) const pfuclt_ptcls::ParticleFilterinline
ParticleFilter(struct PFinitData &data)pfuclt_ptcls::ParticleFilter
particles_pfuclt_ptcls::ParticleFilterprotected
predict(const uint robotNumber, const Odometry odom, const ros::Time stamp)pfuclt_ptcls::ParticleFilter
predictTarget()pfuclt_ptcls::ParticleFilterprotected
printWeights(std::string pre)pfuclt_ptcls::ParticleFilter
resample()pfuclt_ptcls::ParticleFilterprotected
resetWeights(pdata_t val)pfuclt_ptcls::ParticleFilterinlineprotected
resize_particles(const uint n)pfuclt_ptcls::ParticleFilterinlineprotectedvirtual
robotsUsed_pfuclt_ptcls::ParticleFilterprotected
saveAllLandmarkMeasurementsDone(const uint robotNumber)pfuclt_ptcls::ParticleFilter
saveAllTargetMeasurementsDone(const uint robotNumber)pfuclt_ptcls::ParticleFilter
savedLatestObservationTime_pfuclt_ptcls::ParticleFilterprotected
saveLandmarkObservation(const uint robotNumber, const uint landmarkNumber, const LandmarkObservation obs, ros::Time stamp)pfuclt_ptcls::ParticleFilterinline
saveLandmarkObservation(const uint robotNumber, const uint landmarkNumber, const bool found)pfuclt_ptcls::ParticleFilterinline
saveTargetObservation(const uint robotNumber, const TargetObservation obs, ros::Time stamp)pfuclt_ptcls::ParticleFilterinline
saveTargetObservation(const uint robotNumber, const bool found)pfuclt_ptcls::ParticleFilterinline
seed_pfuclt_ptcls::ParticleFilterprotected
size()pfuclt_ptcls::ParticleFilterinline
spreadTargetParticlesSphere(float particlesRatio, pdata_t center[3], float radius)pfuclt_ptcls::ParticleFilterprotected
state_pfuclt_ptcls::ParticleFilterprotected
targetIterationTime_pfuclt_ptcls::ParticleFilterprotected
updateTargetIterationTime(ros::Time tRos)pfuclt_ptcls::ParticleFilterinline
weightComponents_pfuclt_ptcls::ParticleFilterprotected
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter.html b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter.html new file mode 100644 index 0000000..21b60e6 --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter.html @@ -0,0 +1,2078 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::ParticleFilter Class Reference + + + + + + + + + +
+
+Classes | +Public Member Functions | +Public Attributes | +Protected Member Functions | +Protected Attributes | +Private Attributes | +List of all members
+
+
pfuclt_ptcls::ParticleFilter Class Reference
+
+
+ +

#include <pfuclt_particles.h>

+
+Inheritance diagram for pfuclt_ptcls::ParticleFilter:
+
+
Inheritance graph
+ + + +
[legend]
+ + + + + + + + + + +

+Classes

struct  dynamicVariables_s
 
struct  PFinitData
 The PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleFilter instance. More...
 
struct  State
 The state_s struct - defines a structure to hold state information for the particle filter class. More...
 
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+Public Member Functions

void assign (const pdata_t value)
 assign - assign a value to every particle in all subsets More...
 
void assign (const pdata_t value, const uint index)
 assign - assign a value to every particle in one subset More...
 
void dynamicReconfigureCallback (pfuclt_omni_dataset::DynamicConfig &)
 dynamicReconfigureCallback - Dynamic reconfigure callback for dynamically setting variables during runtime More...
 
ParticleFilter * getPFReference ()
 getPFReference - retrieve a reference to this object - to be overloaded by deriving classes so that the base class can be returned More...
 
void init ()
 init - initialize the particle filter set with the default randomized values More...
 
void init (const std::vector< double > &customRandInit, const std::vector< double > &customPosInit)
 init - initialize the particle filter set with custom values More...
 
bool isInitialized ()
 isInitialized - simple interface to access private member initialized_ More...
 
subparticles_t & operator[] (int index)
 operator [] - array subscripting access to the private particle set More...
 
const subparticles_t & operator[] (int index) const
 operator [] - const version of the array subscripting access, when using it on const intantiations of the class More...
 
 ParticleFilter (struct PFinitData &data)
 ParticleFilter - constructor. More...
 
void predict (const uint robotNumber, const Odometry odom, const ros::Time stamp)
 predict - prediction step in the particle filter set with the received odometry More...
 
void printWeights (std::string pre)
 printWeights More...
 
void saveAllLandmarkMeasurementsDone (const uint robotNumber)
 saveAllLandmarkMeasurementsDone - call this function when all landmark measurements have been performed by a certain robot More...
 
void saveAllTargetMeasurementsDone (const uint robotNumber)
 saveAllTargetMeasurementsDone - call this function when all target measurements have been performed by a certain robot More...
 
void saveLandmarkObservation (const uint robotNumber, const uint landmarkNumber, const LandmarkObservation obs, ros::Time stamp)
 saveLandmarkObservation - saves the landmark observation to a buffer of observations More...
 
void saveLandmarkObservation (const uint robotNumber, const uint landmarkNumber, const bool found)
 saveLandmarkObservation - change the measurement buffer state More...
 
void saveTargetObservation (const uint robotNumber, const TargetObservation obs, ros::Time stamp)
 saveTargetObservation - saves the target observation to a buffer of observations More...
 
void saveTargetObservation (const uint robotNumber, const bool found)
 saveTargetObservation - change the measurement buffer state More...
 
std::size_t size ()
 size - interface to the size of the particle filter More...
 
void updateTargetIterationTime (ros::Time tRos)
 updateTargetIterationTime - the main robot should call this method after the target callback More...
 
+ + + + + + + +

+Public Attributes

boost::shared_ptr< std::ostringstream > iteration_oss
 
uint O_TARGET
 
uint O_WEIGHT
 
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+Protected Member Functions

void copyParticle (particles_t &p_To, particles_t &p_From, uint i_To, uint i_From)
 copyParticle - copies a whole particle from one particle set to another More...
 
void copyParticle (particles_t &p_To, particles_t &p_From, uint i_To, uint i_From, uint subFirst, uint subLast)
 copyParticle - copies some subparticle sets of a particle from one particle set to another More...
 
void estimate ()
 estimate - state estimation through weighted means of particle weights More...
 
void fuseRobots ()
 fuseRobots - fuse robot states step More...
 
void fuseTarget ()
 fuseTarget - fuse target state step More...
 
void modifiedMultinomialResampler (uint startAt)
 modifiedMultinomialResampler - a costly resampler that keeps 50% of the particles and implements the multinomial resampler on the rest More...
 
virtual void nextIteration ()
 nextIteration - perform final steps before next iteration More...
 
void predictTarget ()
 predictTarget - predict target state step More...
 
void resample ()
 resample - the resampling step More...
 
void resetWeights (pdata_t val)
 resetWeights - assign the value val to all particle weights More...
 
virtual void resize_particles (const uint n)
 resize_particles - change to a different number of particles More...
 
void spreadTargetParticlesSphere (float particlesRatio, pdata_t center[3], float radius)
 spreadTargetParticlesSphere - spread a percentage of the target particle in a sphere around center More...
 
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+Protected Attributes

std::vector< std::vector< LandmarkObservation > > bufLandmarkObservations_
 
std::vector< TargetObservation > bufTargetObservations_
 
bool converged_
 
ros::WallDuration deltaIteration_
 
ros::WallDuration durationSum
 
struct pfuclt_ptcls::ParticleFilter::dynamicVariables_s dynamicVariables_
 
bool initialized_
 
ros::WallTime iterationEvalTime_
 
const std::vector< Landmark > & landmarksMap_
 
ros::Time latestObservationTime_
 
const uint mainRobotID_
 
ros::WallDuration maxDeltaIteration_
 
ros::NodeHandle & nh_
 
const uint nLandmarks_
 
uint nParticles_
 
const uint nRobots_
 
const uint nStatesPerRobot_
 
const uint nSubParticleSets_
 
const uint nTargets_
 
uint16_t numberIterations
 
TimeEval odometryTime_
 
particles_t particles_
 
const std::vector< bool > & robotsUsed_
 
ros::Time savedLatestObservationTime_
 
RNGType seed_
 
struct State state_
 
TimeEval targetIterationTime_
 
particles_t weightComponents_
 
+ + + + + +

+Private Attributes

dynamic_reconfigure::Server< pfuclt_omni_dataset::DynamicConfig > dynamicServer_
 
boost::mutex mutex_
 
+

Detailed Description

+
+

Definition at line 96 of file pfuclt_particles.h.

+

Constructor & Destructor Documentation

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+ + + + + + + + +
pfuclt_ptcls::ParticleFilter::ParticleFilter (struct PFinitData & data)
+
+ +

ParticleFilter - constructor.

+
Parameters
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data- reference to a struct of PFinitData containing the necessary information to construct the Particle Filter
+
+
+ +

Definition at line 29 of file pfuclt_particles.cpp.

+ +
+
+

Member Function Documentation

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+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::assign (const pdata_t value)
+
+ +

assign - assign a value to every particle in all subsets

+
Parameters
+ + +
value- the value to assign
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void pfuclt_ptcls::ParticleFilter::assign (const pdata_t value,
const uint index 
)
+
+ +

assign - assign a value to every particle in one subset

+
Parameters
+ + + +
value- the value to assign
index- the subset index [0,N]
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void pfuclt_ptcls::ParticleFilter::copyParticle (particles_t & p_To,
particles_t & p_From,
uint i_To,
uint i_From 
)
+ 		+inlineprotected
+
+ +

copyParticle - copies a whole particle from one particle set to another

+
Parameters
+ + + + + +
p_To- the destination particle set
p_From- the origin particle set
i_To- the index of the particle to copy to
i_From- the index of the particle to copy from
+
+
+
Remarks
Make sure the sizes of p_To and p_From are the same
+ +

Definition at line 243 of file pfuclt_particles.h.

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void pfuclt_ptcls::ParticleFilter::copyParticle (particles_t & p_To,
particles_t & p_From,
uint i_To,
uint i_From,
uint subFirst,
uint subLast 
)
+ 		+inlineprotected
+
+ +

copyParticle - copies some subparticle sets of a particle from one particle set to another

+
Parameters
+ + + + + + + +
p_To- the destination particle set
p_From- the origin particle set
i_To- the index of the particle to copy to
i_From- the index of the particle to copy from
subFirst- the first subparticle set index
subLast- the last subparticle set index
+
+
+
Remarks
Make sure the sizes of p_To and p_From are the same
+ +

Definition at line 260 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::dynamicReconfigureCallback (pfuclt_omni_dataset::DynamicConfig & config)
+
+ +

dynamicReconfigureCallback - Dynamic reconfigure callback for dynamically setting variables during runtime

+ +

Definition at line 62 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
void pfuclt_ptcls::ParticleFilter::estimate ()
+ 		+protected
+
+ +

estimate - state estimation through weighted means of particle weights

+ +

Definition at line 516 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
void pfuclt_ptcls::ParticleFilter::fuseRobots ()
+ 		+protected
+
+ +

fuseRobots - fuse robot states step

+ +

Definition at line 154 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
void pfuclt_ptcls::ParticleFilter::fuseTarget ()
+ 		+protected
+
+ +

fuseTarget - fuse target state step

+ +

Definition at line 287 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
ParticleFilter* pfuclt_ptcls::ParticleFilter::getPFReference ()
+ 		+inline
+
+ +

getPFReference - retrieve a reference to this object - to be overloaded by deriving classes so that the base class can be returned

+
Returns
reference to this object
+ +

Definition at line 386 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + + + +
void pfuclt_ptcls::ParticleFilter::init ()
+
+ +

init - initialize the particle filter set with the default randomized values

+ +

Definition at line 629 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::init (const std::vector< double > & customRandInit,
const std::vector< double > & customPosInit 
)
+
+ +

init - initialize the particle filter set with custom values

+
Parameters
+ + + +
customRandInit- vector of doubles with the following form: <lvalue, rvalue, lvalue, rvalue, ...> which will be used as the limits of the uniform distribution. This vector should have a size equal to twice the number of dimensions
customPosInit- vector of doubles with the following form <x,y,theta,x,y,theta,...> with size equal to nStatesPerRobot*nRobots
+
+
+ +

Definition at line 652 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
bool pfuclt_ptcls::ParticleFilter::isInitialized ()
+ 		+inline
+
+ +

isInitialized - simple interface to access private member initialized_

+
Returns
true if particle filter has been initialized, false otherwise
+ +

Definition at line 460 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::modifiedMultinomialResampler (uint startAt)
+ 		+protected
+
+ +

modifiedMultinomialResampler - a costly resampler that keeps 50% of the particles and implements the multinomial resampler on the rest

+ +

Definition at line 413 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
virtual void pfuclt_ptcls::ParticleFilter::nextIteration ()
+ 		+inlineprotectedvirtual
+
+ +

nextIteration - perform final steps before next iteration

+ +

Reimplemented in pfuclt_ptcls::PFPublisher.

+ +

Definition at line 321 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
subparticles_t& pfuclt_ptcls::ParticleFilter::operator[] (int index)
+ 		+inline
+
+ +

operator [] - array subscripting access to the private particle set

+
Parameters
+ + +
index- the subparticle set index number to access
+
+
+
Returns
the subparticles_t object reference located at particles_[index]
+ +

Definition at line 411 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
const subparticles_t& pfuclt_ptcls::ParticleFilter::operator[] (int index) const
+ 		+inline
+
+ +

operator [] - const version of the array subscripting access, when using it on const intantiations of the class

+
Parameters
+ + +
index- the subparticle set index number to access
+
+
+
Returns
a const subparticles_t object reference located at particles_[index]
+ +

Definition at line 420 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::predict (const uint robotNumber,
const Odometry odom,
const ros::Time stamp 
)
+
+ +

predict - prediction step in the particle filter set with the received odometry

+
Parameters
+ + + + +
robotNumber- the robot number [0,N]
odometry- a structure containing the latest odometry readings
time- a ros::Time structure with the timestamp for this data
+
+
+
Warning
only for the omni dataset configuration
+ +

Definition at line 700 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
void pfuclt_ptcls::ParticleFilter::predictTarget ()
+ 		+protected
+
+ +

predictTarget - predict target state step

+
Parameters
+ + +
robotNumber- the robot performing, for debugging purposes
+
+
+ +

Definition at line 129 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::printWeights (std::string pre)
+
+ +

printWeights

+ +

Definition at line 617 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
void pfuclt_ptcls::ParticleFilter::resample ()
+ 		+protected
+
+ +

resample - the resampling step

+ +

Definition at line 461 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::resetWeights (pdata_t val)
+ 		+inlineprotected
+
+ +

resetWeights - assign the value val to all particle weights

+ +

Definition at line 270 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
virtual void pfuclt_ptcls::ParticleFilter::resize_particles (const uint n)
+ 		+inlineprotectedvirtual
+
+ +

resize_particles - change to a different number of particles

+
Parameters
+ + +
n- the desired number of particles
+
+
+ +

Reimplemented in pfuclt_ptcls::PFPublisher.

+ +

Definition at line 327 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::saveAllLandmarkMeasurementsDone (const uint robotNumber)
+
+ +

saveAllLandmarkMeasurementsDone - call this function when all landmark measurements have been performed by a certain robot

+
Parameters
+ + +
robotNumber- the robot number performing the measurements
+
+
+ +

Definition at line 831 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::saveAllTargetMeasurementsDone (const uint robotNumber)
+
+ +

saveAllTargetMeasurementsDone - call this function when all target measurements have been performed by a certain robot

+
Parameters
+ + +
robotNumber- the robot number performing the measurements
+
+
+ +

Definition at line 836 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::saveLandmarkObservation (const uint robotNumber,
const uint landmarkNumber,
const LandmarkObservation obs,
ros::Time stamp 
)
+ 		+inline
+
+ +

saveLandmarkObservation - saves the landmark observation to a buffer of observations

+
Parameters
+ + + + +
robotNumber- the robot number in the team
landmarkNumber- the landmark serial id
obs- the observation data as a structure defined in this file
+
+
+ +

Definition at line 476 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::saveLandmarkObservation (const uint robotNumber,
const uint landmarkNumber,
const bool found 
)
+ 		+inline
+
+ +

saveLandmarkObservation - change the measurement buffer state

+
Parameters
+ + + +
robotNumber- the robot number in the team
found- whether this landmark has been found
+
+
+ +

Definition at line 490 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::saveTargetObservation (const uint robotNumber,
const TargetObservation obs,
ros::Time stamp 
)
+ 		+inline
+
+ +

saveTargetObservation - saves the target observation to a buffer of observations

+
Parameters
+ + + +
robotNumber- the robot number in the team
obs- the observation data as a structure defined in this file
+
+
+ +

Definition at line 511 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::saveTargetObservation (const uint robotNumber,
const bool found 
)
+ 		+inline
+
+ +

saveTargetObservation - change the measurement buffer state

+
Parameters
+ + + +
robotNumber- the robot number in the team
found- whether the target has been found
+
+
+ +

Definition at line 543 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
std::size_t pfuclt_ptcls::ParticleFilter::size ()
+ 		+inline
+
+ +

size - interface to the size of the particle filter

+
Returns
- the number of subparticle sets
+ +

Definition at line 466 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void pfuclt_ptcls::ParticleFilter::spreadTargetParticlesSphere (float particlesRatio,
pdata_t center[3],
float radius 
)
+ 		+protected
+
+ +

spreadTargetParticlesSphere - spread a percentage of the target particle in a sphere around center

+
Parameters
+ + + + +
particlesRatio- float between 0 and 1, corresponding to the percentage of particles that will be spread
center- center of the sphere [x,y,z]
radius- in meters
+
+
+ +

Definition at line 114 of file pfuclt_particles.cpp.

+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
void pfuclt_ptcls::ParticleFilter::updateTargetIterationTime (ros::Time tRos)
+ 		+inline
+
+ +

updateTargetIterationTime - the main robot should call this method after the target callback

+
Parameters
+ + +
tRos- time variable to be used in calculating the target's iteration time
+
+
+ +

Definition at line 369 of file pfuclt_particles.h.

+ +
+
+

Member Data Documentation

+ +
+
+ + + + + +
+ + + + +
std::vector<std::vector<LandmarkObservation> > pfuclt_ptcls::ParticleFilter::bufLandmarkObservations_
+ 		+protected
+
+ +

Definition at line 223 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
std::vector<TargetObservation> pfuclt_ptcls::ParticleFilter::bufTargetObservations_
+ 		+protected
+
+ +

Definition at line 224 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
bool pfuclt_ptcls::ParticleFilter::converged_
+ 		+protected
+
+ +

Definition at line 232 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::WallDuration pfuclt_ptcls::ParticleFilter::deltaIteration_
+ 		+protected
+
+ +

Definition at line 227 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::WallDuration pfuclt_ptcls::ParticleFilter::durationSum
+ 		+protected
+
+ +

Definition at line 228 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
dynamic_reconfigure::Server<pfuclt_omni_dataset::DynamicConfig> pfuclt_ptcls::ParticleFilter::dynamicServer_
+ 		+private
+
+ +

Definition at line 101 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
struct pfuclt_ptcls::ParticleFilter::dynamicVariables_s pfuclt_ptcls::ParticleFilter::dynamicVariables_
+ 		+protected
+
+ +
+
+ +
+
+ + + + + +
+ + + + +
bool pfuclt_ptcls::ParticleFilter::initialized_
+ 		+protected
+
+ +

Definition at line 222 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + +
boost::shared_ptr<std::ostringstream> pfuclt_ptcls::ParticleFilter::iteration_oss
+
+ +

Definition at line 347 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::WallTime pfuclt_ptcls::ParticleFilter::iterationEvalTime_
+ 		+protected
+
+ +

Definition at line 226 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const std::vector<Landmark>& pfuclt_ptcls::ParticleFilter::landmarksMap_
+ 		+protected
+
+ +

Definition at line 212 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::Time pfuclt_ptcls::ParticleFilter::latestObservationTime_
+ 		+protected
+
+ +

Definition at line 231 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const uint pfuclt_ptcls::ParticleFilter::mainRobotID_
+ 		+protected
+
+ +

Definition at line 211 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::WallDuration pfuclt_ptcls::ParticleFilter::maxDeltaIteration_
+ 		+protected
+
+ +

Definition at line 227 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
boost::mutex pfuclt_ptcls::ParticleFilter::mutex_
+ 		+private
+
+ +

Definition at line 99 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::NodeHandle& pfuclt_ptcls::ParticleFilter::nh_
+ 		+protected
+
+ +

Definition at line 209 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const uint pfuclt_ptcls::ParticleFilter::nLandmarks_
+ 		+protected
+
+ +

Definition at line 218 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
uint pfuclt_ptcls::ParticleFilter::nParticles_
+ 		+protected
+
+ +

Definition at line 210 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const uint pfuclt_ptcls::ParticleFilter::nRobots_
+ 		+protected
+
+ +

Definition at line 215 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const uint pfuclt_ptcls::ParticleFilter::nStatesPerRobot_
+ 		+protected
+
+ +

Definition at line 216 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const uint pfuclt_ptcls::ParticleFilter::nSubParticleSets_
+ 		+protected
+
+ +

Definition at line 217 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const uint pfuclt_ptcls::ParticleFilter::nTargets_
+ 		+protected
+
+ +

Definition at line 214 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
uint16_t pfuclt_ptcls::ParticleFilter::numberIterations
+ 		+protected
+
+ +

Definition at line 229 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + +
uint pfuclt_ptcls::ParticleFilter::O_TARGET
+
+ +

Definition at line 348 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + +
uint pfuclt_ptcls::ParticleFilter::O_WEIGHT
+
+ +

Definition at line 348 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
TimeEval pfuclt_ptcls::ParticleFilter::odometryTime_
+ 		+protected
+
+ +

Definition at line 225 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
particles_t pfuclt_ptcls::ParticleFilter::particles_
+ 		+protected
+
+ +

Definition at line 219 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
const std::vector<bool>& pfuclt_ptcls::ParticleFilter::robotsUsed_
+ 		+protected
+
+ +

Definition at line 213 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
ros::Time pfuclt_ptcls::ParticleFilter::savedLatestObservationTime_
+ 		+protected
+
+ +

Definition at line 231 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
RNGType pfuclt_ptcls::ParticleFilter::seed_
+ 		+protected
+
+ +

Definition at line 221 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
struct State pfuclt_ptcls::ParticleFilter::state_
+ 		+protected
+
+ +

Definition at line 230 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
TimeEval pfuclt_ptcls::ParticleFilter::targetIterationTime_
+ 		+protected
+
+ +

Definition at line 225 of file pfuclt_particles.h.

+ +
+
+ +
+
+ + + + + +
+ + + + +
particles_t pfuclt_ptcls::ParticleFilter::weightComponents_
+ 		+protected
+
+ +

Definition at line 220 of file pfuclt_particles.h.

+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.map b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.map new file mode 100644 index 0000000..9668dff --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.map @@ -0,0 +1,3 @@ + + + diff --git a/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.md5 b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.md5 new file mode 100644 index 0000000..de0e1fc --- /dev/null +++ b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.md5 @@ -0,0 +1 @@ +16d6a0efd13ce2a003f46ac679435c98 \ No newline at end of file diff --git a/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.png b/doc/html/c++/classpfuclt__ptcls_1_1ParticleFilter__inherit__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..e5efb03362e8923636e8f37e017d8f4b586516d0 GIT binary patch literal 3472 zcmcJShg%a{8pelS1VJt$OA)C?kd7h{5s_1kG$Q(H0Rq+@iV zQFObYX2U~b(4anzdaZ`MCPKS)B|17Od2XsY}i_D+bbBKzHx~kTntLf&!**VtPp3|Pt2rkGVEf5H?>(`|r zF8=-sFxadqHD4w?N6Xju#~WdtuC6XV>zT^BAP*VS1l4CO2pHDe!QEX?Dg*B#=e3|$ z^kcp)8cx}3=g=gil$MsZwyMP!fV~x&5kEQOz!zL1-BVMc{W+?}RZ%nTYx@LWsST0H zLW-=s{9RKEH8tRicS^T{swzgobYBy~S!svi0Votohm()Hd#QGzWrObuMfCXO#MRAB zMU#fNCObiysnsz&zseJPcH)6Re6M>t)zj0ny1F_WL4FF1e{yDk1{0kpwF^HL7mGy9X%k$0hXRI%hPXfZRU#-sfq{pCbK!?88TLb{x-LZp1^#5{qq0$Vg}3Cx z-Hfy}EghXIt6IIn!PL}LO&y(FIP$FG%WP?RxkcG1DJaVzU~j%{W5XT)o1h0xWMgCF z!oq?%+UUN8#dJ%!wRl?fEt!YmJC3)X)tL?c5E2&dmiJ`B9jpxG-xU-T1ia^4sY)!~ zzJ9HCb#8h(8->Dn%_sv9ad93V9$!yW--wj%j-|g?=-YeJBvO)->pUkGi9{yA&d$#I zi&qiuB={LO0EI$Z&Q3NXBLQP$;}Ex2n<+nEUm+nOZ5$!q48iS*wTGFF`itF{kRelv~8yio#tjWpAS>$jzA!gfPg73Wt3MyKzjdLKY=hhGBQ5o`Tfa*DT%7) zAEOWKZ>05rK`bZ`Y9h;MbfS$P(d!^ZL_}V8E*2CNjE|3#Nd7+s^G)iJ=VxFtXJ_-d zYJt<3^y-x)7;`+{y2jPe$mpVq%l2fgtgLKPz_yi%X#l4Z7L9gubaXT{B<##IN!v9; z-srBM#_AQFY}NFy%Wl<4A}Xw&&9_E@19yG&h>n2)OZkD1iHQj?eqPQB$jQl3Q&ao; z`OO8dq2}iu@Km(D;xI$;vb}LE*3RBOH$DCP_wU+_-2D86Z{MyZ`P?zO(a3V+#*IsH zng<6525c~-y6(-Osl}C*gGrAn$rqeF)`}%uwGgKSI`UlzXUpMiXo6r2{gq1@)MHov zC4*6Cf2$(mCwhB(TVIOChv_Ob=o&{{&U(Q^e}8}P7Sr>p$m^V9Otgrr*Chp*nVHAa z=NArXRkeSFaRlsTBbk?nL=1moek*i4EOX-;T>yicE|2(NI> z3Ot4t703@30TFXPN?Kh zz*D)bInCQy2DY|=xUS-Cq3&l7ch0y4avOb|2R81~!*TIKhgF@OokhjPQY|7Kqiv`E1@nLaBa_aFFdS|V z;go`C=9}yVLCH(?UzOlVF(wd$d-wjq$M+f9p>{C~EmJ&P>3KB?Z34NIJ*MH42^SL+ z1Eni8B&0rujfLfiOqMnrfi{F3l$w<^BhMp3Lz~(hbd8M_RXV!7zWu?@93v367e&*z zP~tOwm{4XR9$x@TV?)e4gW_LUd{VF)rz>LB6d(!E($gazJcxb%+`!nFe021YjR1F1 z2m8+jK~&P;O6A=UG4KGZpCQ%R(eYBVV0zjHWpw4r6$XH`^-(&>UxFRmd{vju=<-{WG#cZl+bmo8oM*_l?74_0d~-9HX%?4Y>CF$t#LL7q`g z4mP!f2J`R6D!fIWsmTA7DXXT+tF67ItUNh3_T~Ni=R1R&2Vgis@Mz@AC@KbmLe)1s zImyGt6|mBicARj|fG2MPCJ!FCP4s)O_3;C`1_oQZySp13@rjA4x+4D9LnAH8%iSsO zZa>`sGnYu5Xb!G2&F08^r95f*k?2N9iu8?@M5{uE%QGfaX zUchUnu?SIyMx!q?cY@q@a&{(MlwCgv(RevJk;f~IA(w*tMLqjN)z>BP`2P9JS-q#DUYy!pmBBG+*E^@V2hM9KOyDEW5 z5{Wb*y}7XgB6s`5d8zA_Z$tJ@b2vG`+&pC^Ow|x%Ynt8)k!WdZ3c4d_xvUZQ+QG*n zsm|w&4NXlr9BvL1I`)H|0Af{_QSc~Q33YOE@@(_FW#0?Q31DD$*2pw<@G)(qO5lzO z=jF?ni!8*6&m|=#`&AFKEicO<<^p%f!yi6C8ZYtltIEkad2q}79PZ2{BqqL}>WA+4 zg8qZwIyHN4Z0rzZ`&gyzg$oz-_4GD&b^`or{B}t1%{gx=Dvp7(bLo;}@Jlfzr3o*_ zS6QzzhbQWN3Rh~_s<-m;t^p3YoqK!U4i48&sl;Vv{{k&mug#nOR3H#JFiRVGb{1h( z_79S~sSJj%56lv$C=f?G-(BJ>Yo2xG>PugTb%!nsG-Y2=Cj(jt^AALw|Y( z1=VA*NISb6MA@w=HC+)70fAi5h$tv34xfS^?j{!l9UW+9cP47q1`BmKJ@Q944?t@$ zJ3D(pyys7$H8iBOuI@GzI^EtbEGD)}-o?71Ydxbog}&wpl*KX%rq`&Cl~z^RV@lQ@Z$guzb literal 0 HcmV?d00001 diff --git a/doc/html/c++/dir_000005_000006.html b/doc/html/c++/dir_000005_000006.html new file mode 100644 index 0000000..4bcbf3c --- /dev/null +++ b/doc/html/c++/dir_000005_000006.html @@ -0,0 +1,31 @@ + +pfuclt_omni_dataset: src -> include Relation + + + + + + + + +
+

src → include Relation

File in srcIncludes file in include
minicsv.cppminicsv / minicsv.h
pfuclt_aux.cppminicsv / minicsv.h
pfuclt_aux.cpppfuclt_omni_dataset / pfuclt_aux.h
pfuclt_omni_dataset.cpppfuclt_omni_dataset / pfuclt_aux.h
pfuclt_omni_dataset.cpppfuclt_omni_dataset / pfuclt_omni_dataset.h
pfuclt_omni_dataset.cpppfuclt_omni_dataset / pfuclt_particles.h
pfuclt_particles.cpppfuclt_omni_dataset / pfuclt_particles.h
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/dir_5302bec79b689f0f247f14453837c900.html b/doc/html/c++/dir_5302bec79b689f0f247f14453837c900.html index a9645c6..e356651 100644 --- a/doc/html/c++/dir_5302bec79b689f0f247f14453837c900.html +++ b/doc/html/c++/dir_5302bec79b689f0f247f14453837c900.html @@ -9,6 +9,7 @@ @@ -40,7 +41,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/dir_59dc6fcc83246be1771c8295efb81319.html b/doc/html/c++/dir_59dc6fcc83246be1771c8295efb81319.html index 0ac7a68..0f764bb 100644 --- a/doc/html/c++/dir_59dc6fcc83246be1771c8295efb81319.html +++ b/doc/html/c++/dir_59dc6fcc83246be1771c8295efb81319.html @@ -9,6 +9,7 @@ @@ -42,7 +43,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/doc/html/c++/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 544953d..eeed4b4 100644 --- a/doc/html/c++/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/doc/html/c++/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -9,6 +9,7 @@ @@ -28,6 +29,16 @@
src Directory Reference
+
+Directory dependency graph for src:
+
+
src
+ + + + + +
@@ -46,7 +57,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
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pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/dir_9a330298ad622ac8e7cfaf0d12710aab.html b/doc/html/c++/dir_9a330298ad622ac8e7cfaf0d12710aab.html new file mode 100644 index 0000000..a791023 --- /dev/null +++ b/doc/html/c++/dir_9a330298ad622ac8e7cfaf0d12710aab.html @@ -0,0 +1,47 @@ + +pfuclt_omni_dataset: minicsv Directory Reference + + + + + + + + + +
+
+
minicsv Directory Reference
+
+
+

Files

+ + + +

+Files

file  minicsv.h [code]
 
+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/dir_9b59f56a0a0080b69286196aa2bead32.html b/doc/html/c++/dir_9b59f56a0a0080b69286196aa2bead32.html new file mode 100644 index 0000000..3c029e7 --- /dev/null +++ b/doc/html/c++/dir_9b59f56a0a0080b69286196aa2bead32.html @@ -0,0 +1,51 @@ + +pfuclt_omni_dataset: pfuclt_omni_dataset Directory Reference + + + + + + + + + +
+
+
pfuclt_omni_dataset Directory Reference
+
+
+ + + + + + + + +

+Files

file  pfuclt_aux.h [code]
 
file  pfuclt_omni_dataset.h [code]
 
file  pfuclt_particles.h [code]
 
+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/dir_a7b39092111346681b5c5eeb783e7da0.html b/doc/html/c++/dir_a7b39092111346681b5c5eeb783e7da0.html index 98e3b2d..ad5ea72 100644 --- a/doc/html/c++/dir_a7b39092111346681b5c5eeb783e7da0.html +++ b/doc/html/c++/dir_a7b39092111346681b5c5eeb783e7da0.html @@ -9,6 +9,7 @@ @@ -42,7 +43,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/dir_d44c64559bbebec7f509842c48db8b23.html b/doc/html/c++/dir_d44c64559bbebec7f509842c48db8b23.html new file mode 100644 index 0000000..9c194a1 --- /dev/null +++ b/doc/html/c++/dir_d44c64559bbebec7f509842c48db8b23.html @@ -0,0 +1,49 @@ + +pfuclt_omni_dataset: include Directory Reference + + + + + + + + + +
+
+
include Directory Reference
+
+
+ + + + + + +

+Directories

directory  minicsv
 
directory  pfuclt_omni_dataset
 
+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/dir_d8b9556c6f38787f4045366f8eeaec4e.html b/doc/html/c++/dir_d8b9556c6f38787f4045366f8eeaec4e.html index 5b9040b..3861094 100644 --- a/doc/html/c++/dir_d8b9556c6f38787f4045366f8eeaec4e.html +++ b/doc/html/c++/dir_d8b9556c6f38787f4045366f8eeaec4e.html @@ -9,6 +9,7 @@ @@ -40,7 +41,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/dir_f89abcb304c928c7d889aa5625570de5.html b/doc/html/c++/dir_f89abcb304c928c7d889aa5625570de5.html index 03f07bf..429e947 100644 --- a/doc/html/c++/dir_f89abcb304c928c7d889aa5625570de5.html +++ b/doc/html/c++/dir_f89abcb304c928c7d889aa5625570de5.html @@ -9,6 +9,7 @@ @@ -47,7 +48,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/feature__tests_8c.html b/doc/html/c++/feature__tests_8c.html index 2f14227..5f06d69 100644 --- a/doc/html/c++/feature__tests_8c.html +++ b/doc/html/c++/feature__tests_8c.html @@ -9,6 +9,7 @@ @@ -94,7 +95,7 @@

Variable Documentation

pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/feature__tests_8c_source.html b/doc/html/c++/feature__tests_8c_source.html index e6cc396..377a2e2 100644 --- a/doc/html/c++/feature__tests_8c_source.html +++ b/doc/html/c++/feature__tests_8c_source.html @@ -9,6 +9,7 @@ @@ -36,7 +37,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
diff --git a/doc/html/c++/files.html b/doc/html/c++/files.html index 8602a2c..7f6467e 100644 --- a/doc/html/c++/files.html +++ b/doc/html/c++/files.html @@ -9,6 +9,7 @@ @@ -30,11 +31,15 @@  CMakeCXXCompilerId.cpp  feature_tests.c  minicsv.cpp - ompver.c - ompver.cpp - pfuclt_aux.cpp - pfuclt_omni_dataset.cpp - pfuclt_particles.cpp + minicsv.h + ompver.c + ompver.cpp + pfuclt_aux.cpp + pfuclt_aux.h + pfuclt_omni_dataset.cpp + pfuclt_omni_dataset.h + pfuclt_particles.cpp + pfuclt_particles.h @@ -43,7 +48,7 @@
pfuclt_omni_dataset
Author(s):
-autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
diff --git a/doc/html/c++/functions.html b/doc/html/c++/functions.html new file mode 100644 index 0000000..03c42e4 --- /dev/null +++ b/doc/html/c++/functions.html @@ -0,0 +1,654 @@ + +pfuclt_omni_dataset: Class Members + + + + + + + + + + +
+
Here is a list of all class members with links to the classes they belong to:
+ +

- a -

+ + +

- b -

+ + +

- c -

+ + +

- d -

+ + +

- e -

+ + +

- f -

+ + +

- g -

+ + +

- h -

+ + +

- i -

+ + +

- l -

+ + +

- m -

+ + +

- n -

+ + +

- o -

+ + +

- p -

+ + +

- r -

+ + +

- s -

+ + +

- t -

+ + +

- u -

+ + +

- w -

+ + +

- x -

+ + +

- y -

+ + +

- z -

+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/functions_func.html b/doc/html/c++/functions_func.html new file mode 100644 index 0000000..d54dcb2 --- /dev/null +++ b/doc/html/c++/functions_func.html @@ -0,0 +1,308 @@ + +pfuclt_omni_dataset: Class Members - Functions + + + + + + + + + + +
+  + +

- a -

+ + +

- c -

+ + +

- d -

+ + +

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+ + +

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+ + +

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+ + +

- u -

+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/functions_type.html b/doc/html/c++/functions_type.html new file mode 100644 index 0000000..5765338 --- /dev/null +++ b/doc/html/c++/functions_type.html @@ -0,0 +1,47 @@ + +pfuclt_omni_dataset: Class Members - Typedefs + + + + + + + + + +
+  +
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/functions_vars.html b/doc/html/c++/functions_vars.html new file mode 100644 index 0000000..ead632c --- /dev/null +++ b/doc/html/c++/functions_vars.html @@ -0,0 +1,464 @@ + +pfuclt_omni_dataset: Class Members - Variables + + + + + + + + + + +
+  + +

- a -

+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+
+ +
+
+pfuclt_omni_dataset
+Author(s):
+autogenerated on Mon Jul 3 2017 16:11:29 +
+ + diff --git a/doc/html/c++/globals.html b/doc/html/c++/globals.html index d3ca4d1..55846f0 100644 --- a/doc/html/c++/globals.html +++ b/doc/html/c++/globals.html @@ -9,6 +9,7 @@ @@ -37,10 +38,12 @@
  • h
  • i
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    • @@ -96,9 +99,12 @@

    - f -

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      @@ -126,19 +132,59 @@

      - i -

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        + + +

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        @@ -162,13 +208,35 @@

        - r -

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          + + +

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          @@ -177,7 +245,7 @@

          - s -

            pfuclt_omni_dataset
            Author(s):
            -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
            diff --git a/doc/html/c++/globals_defs.html b/doc/html/c++/globals_defs.html index 4c38208..4973155 100644 --- a/doc/html/c++/globals_defs.html +++ b/doc/html/c++/globals_defs.html @@ -9,6 +9,7 @@ @@ -26,16 +27,43 @@
          • Macros
          +
          - 
          @@ -79,7 +198,7 @@
          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
          diff --git a/doc/html/c++/globals_func.html b/doc/html/c++/globals_func.html index 0e220d4..977f1b1 100644 --- a/doc/html/c++/globals_func.html +++ b/doc/html/c++/globals_func.html @@ -9,6 +9,7 @@ @@ -31,11 +32,17 @@   @@ -44,7 +51,7 @@
          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
          diff --git a/doc/html/c++/globals_vars.html b/doc/html/c++/globals_vars.html index 17ccb76..93c3af6 100644 --- a/doc/html/c++/globals_vars.html +++ b/doc/html/c++/globals_vars.html @@ -9,6 +9,7 @@ @@ -59,7 +60,7 @@
          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
          diff --git a/doc/html/c++/graph_legend.html b/doc/html/c++/graph_legend.html index 82d94a6..b29c414 100644 --- a/doc/html/c++/graph_legend.html +++ b/doc/html/c++/graph_legend.html @@ -9,6 +9,7 @@ @@ -53,7 +54,7 @@
          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
          diff --git a/doc/html/c++/hierarchy.html b/doc/html/c++/hierarchy.html new file mode 100644 index 0000000..5f9077c --- /dev/null +++ b/doc/html/c++/hierarchy.html @@ -0,0 +1,73 @@ + +pfuclt_omni_dataset: Class Hierarchy + + + + + + + + +
          +
          +
          Class Hierarchy
          +
          +
          +
          +

          Go to the graphical class hierarchy

          +This inheritance list is sorted roughly, but not completely, alphabetically:
          +
          [detail level 12]
          + + + + + + + + + + + + + + + + + + + + +
           Cpfuclt_ptcls::ParticleFilter::dynamicVariables_s
           Cmini::csv::ifstream
           Cmini::csv::istringstream
           Cpfuclt_aux::landmark_sThe Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}
           Cpfuclt_ptcls::landmarkObs_s
           Cpfuclt_ptcls::odometry_s
           Cmini::csv::ofstream
           Cmini::csv::ostringstream
           ▼Cpfuclt_ptcls::ParticleFilter
           Cpfuclt_ptcls::PFPublisher +
           Cpfuclt_ptcls::ParticleFilter::PFinitDataThe PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleFilter instance
           Cpfuclt_ptcls::PFPublisher::PublishData
           Cpfuclt::Robot
            +
          • Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class
            • +
          +
           Cpfuclt::RobotFactory
            +
          • Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots
            • +
          +
           Cpfuclt_ptcls::ParticleFilter::State::robotState_sThe robotState_s struct - saves information on the belief of a robot's state
           Cmini::csv::sep
           Cpfuclt_ptcls::ParticleFilter::StateThe state_s struct - defines a structure to hold state information for the particle filter class
           Cpfuclt_ptcls::targetObs_s
           Cpfuclt_ptcls::ParticleFilter::State::targetState_sThe targetState_s struct - saves information on the belief of the target's state
           Cpfuclt_aux::timeEval_sThe timeEval_s struct - takes care of time difference evaluation through the ros::Time methods
          +
          +
          + +
          +
          +pfuclt_omni_dataset
          +Author(s):
          +autogenerated on Mon Jul 3 2017 16:11:29 +
          + + diff --git a/doc/html/c++/index.html b/doc/html/c++/index.html index f20aef2..8811736 100644 --- a/doc/html/c++/index.html +++ b/doc/html/c++/index.html @@ -9,6 +9,7 @@ @@ -24,7 +25,7 @@
          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
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          + + +
          +
          +
          Class Hierarchy
          +
          +
          +
          +

          Go to the textual class hierarchy

          +
          + + + + + + + + + + + + + + + + + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          + + + +
          +
          + +
          +
          +pfuclt_omni_dataset
          +Author(s):
          +autogenerated on Mon Jul 3 2017 16:11:29 +
          + + diff --git a/doc/html/c++/minicsv_8cpp.html b/doc/html/c++/minicsv_8cpp.html index 225a29e..8b0e074 100644 --- a/doc/html/c++/minicsv_8cpp.html +++ b/doc/html/c++/minicsv_8cpp.html @@ -9,6 +9,7 @@ @@ -28,12 +29,13 @@
          minicsv.cpp File Reference
          -
          #include <minicsv/minicsv.h>
          +
          #include <minicsv/minicsv.h>
          Include dependency graph for minicsv.cpp:
          +
          @@ -44,7 +46,7 @@
          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
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          @@ -28,13 +29,14 @@
          minicsv.cpp
          -Go to the documentation of this file.
          1 #include <minicsv/minicsv.h>
          +Go to the documentation of this file.
          1 #include <minicsv/minicsv.h>
          +

          pfuclt_omni_dataset
          Author(s):
          -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
          diff --git a/doc/html/c++/minicsv_8h.html b/doc/html/c++/minicsv_8h.html new file mode 100644 index 0000000..812a120 --- /dev/null +++ b/doc/html/c++/minicsv_8h.html @@ -0,0 +1,812 @@ + +pfuclt_omni_dataset: minicsv.h File Reference + + + + + + + + + +
          +
          +Classes | +Namespaces | +Macros | +Functions
          +
          +
          minicsv.h File Reference
          +
          +
          +
          #include <string>
          +#include <sstream>
          +#include <fstream>
          +#include <algorithm>
          +#include <stdexcept>
          +
          +Include dependency graph for minicsv.h:
          +
          +
          + + +
          +
          +This graph shows which files directly or indirectly include this file:
          +
          +
          + + + + +
          +
          +

          Go to the source code of this file.

          + + + + + + + + + + + + +

          +Classes

          class  mini::csv::ifstream
           
          class  mini::csv::istringstream
           
          class  mini::csv::ofstream
           
          class  mini::csv::ostringstream
           
          class  mini::csv::sep
           
          + + + + + +

          +Namespaces

           mini
           
           mini::csv
           
          + + + +

          +Macros

          #define NEWLINE   '\n'
           
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

          +Functions

          template<typename T >
          mini::csv::ofstream & operator<< (mini::csv::ofstream &ostm, const T &val)
           
          template<typename T >
          mini::csv::ofstream & operator<< (mini::csv::ofstream &ostm, const T *val)
           
          template<>
          mini::csv::ofstream & operator<< (mini::csv::ofstream &ostm, const std::string &val)
           
          template<>
          mini::csv::ofstream & operator<< (mini::csv::ofstream &ostm, const mini::csv::sep &val)
           
          template<>
          mini::csv::ofstream & operator<< (mini::csv::ofstream &ostm, const char &val)
           
          template<>
          mini::csv::ofstream & operator<< (mini::csv::ofstream &ostm, const char *val)
           
          template<typename T >
          mini::csv::ostringstream & operator<< (mini::csv::ostringstream &ostm, const T &val)
           
          template<typename T >
          mini::csv::ostringstream & operator<< (mini::csv::ostringstream &ostm, const T *val)
           
          template<>
          mini::csv::ostringstream & operator<< (mini::csv::ostringstream &ostm, const std::string &val)
           
          template<>
          mini::csv::ostringstream & operator<< (mini::csv::ostringstream &ostm, const mini::csv::sep &val)
           
          template<>
          mini::csv::ostringstream & operator<< (mini::csv::ostringstream &ostm, const char &val)
           
          template<>
          mini::csv::ostringstream & operator<< (mini::csv::ostringstream &ostm, const char *val)
           
          template<typename T >
          mini::csv::ifstream & operator>> (mini::csv::ifstream &istm, T &val)
           
          template<>
          mini::csv::ifstream & operator>> (mini::csv::ifstream &istm, std::string &val)
           
          template<>
          mini::csv::ifstream & operator>> (mini::csv::ifstream &istm, mini::csv::sep &val)
           
          template<typename T >
          mini::csv::istringstream & operator>> (mini::csv::istringstream &istm, T &val)
           
          template<>
          mini::csv::istringstream & operator>> (mini::csv::istringstream &istm, std::string &val)
           
          template<>
          mini::csv::istringstream & operator>> (mini::csv::istringstream &istm, mini::csv::sep &val)
           
          std::string const & mini::csv::replace (std::string &src, std::string const &to_find, std::string const &to_replace)
           
          std::string mini::csv::trim (const std::string &str, const std::string &trimChars)
           
          std::string mini::csv::trim_left (const std::string &str, const std::string &trimChars)
           
          std::string mini::csv::trim_right (const std::string &str, const std::string &trimChars)
           
          +

          Macro Definition Documentation

          + +
          +
          + + + + +
          #define NEWLINE   '\n'
          +
          + +

          Definition at line 45 of file minicsv.h.

          + +
          +
          +

          Function Documentation

          + +
          +
          +
          +template<typename T >
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ofstream& operator<< (mini::csv::ofstream & ostm,
          const T & val 
          )
          +
          + +

          Definition at line 511 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<typename T >
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ofstream& operator<< (mini::csv::ofstream & ostm,
          const T * val 
          )
          +
          + +

          Definition at line 528 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ofstream& operator<< (mini::csv::ofstream & ostm,
          const std::string & val 
          )
          +           		+inline
          +
          + +

          Definition at line 545 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ofstream& operator<< (mini::csv::ofstream & ostm,
          const mini::csv::sep & val 
          )
          +           		+inline
          +
          + +

          Definition at line 559 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ofstream& operator<< (mini::csv::ofstream & ostm,
          const char & val 
          )
          +           		+inline
          +
          + +

          Definition at line 567 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ofstream& operator<< (mini::csv::ofstream & ostm,
          const char * val 
          )
          +           		+inline
          +
          + +

          Definition at line 587 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<typename T >
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ostringstream& operator<< (mini::csv::ostringstream & ostm,
          const T & val 
          )
          +
          + +

          Definition at line 902 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<typename T >
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ostringstream& operator<< (mini::csv::ostringstream & ostm,
          const T * val 
          )
          +
          + +

          Definition at line 918 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ostringstream& operator<< (mini::csv::ostringstream & ostm,
          const std::string & val 
          )
          +           		+inline
          +
          + +

          Definition at line 934 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ostringstream& operator<< (mini::csv::ostringstream & ostm,
          const mini::csv::sep & val 
          )
          +           		+inline
          +
          + +

          Definition at line 947 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ostringstream& operator<< (mini::csv::ostringstream & ostm,
          const char & val 
          )
          +           		+inline
          +
          + +

          Definition at line 955 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ostringstream& operator<< (mini::csv::ostringstream & ostm,
          const char * val 
          )
          +           		+inline
          +
          + +

          Definition at line 975 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<typename T >
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ifstream& operator>> (mini::csv::ifstream & istm,
          T & val 
          )
          +
          + +

          Definition at line 470 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ifstream& operator>> (mini::csv::ifstream & istm,
          std::string & val 
          )
          +           		+inline
          +
          + +

          Definition at line 495 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::ifstream& operator>> (mini::csv::ifstream & istm,
          mini::csv::sep & val 
          )
          +           		+inline
          +
          + +

          Definition at line 503 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<typename T >
          + + + + + + + + + + + + + + + + + + +
          mini::csv::istringstream& operator>> (mini::csv::istringstream & istm,
          T & val 
          )
          +
          + +

          Definition at line 861 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::istringstream& operator>> (mini::csv::istringstream & istm,
          std::string & val 
          )
          +           		+inline
          +
          + +

          Definition at line 886 of file minicsv.h.

          + +
          +
          + +
          +
          +
          +template<>
          + + + + + +
          + + + + + + + + + + + + + + + + + + +
          mini::csv::istringstream& operator>> (mini::csv::istringstream & istm,
          mini::csv::sep & val 
          )
          +           		+inline
          +
          + +

          Definition at line 894 of file minicsv.h.

          + +
          +
          +
          + +
          +
          +pfuclt_omni_dataset
          +Author(s):
          +autogenerated on Mon Jul 3 2017 16:11:29 +
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diff --git a/doc/html/c++/minicsv_8h_source.html b/doc/html/c++/minicsv_8h_source.html new file mode 100644 index 0000000..cd72e52 --- /dev/null +++ b/doc/html/c++/minicsv_8h_source.html @@ -0,0 +1,59 @@ + +pfuclt_omni_dataset: minicsv.h Source File + + + + + + + + + +
          +
          +
          minicsv.h
          +
          +
          +Go to the documentation of this file.
          1 // The MIT License (MIT)
          2 // Minimalistic CSV Streams 1.7.9
          3 // Copyright (C) 2014 - 2016, by Wong Shao Voon (shaovoon@yahoo.com)
          4 //
          5 // http://opensource.org/licenses/MIT
          6 //
          7 // version 1.2 : make use of make_shared
          8 // version 1.3 : fixed: to when reading the last line and it does not have linefeed
          9 // added: skip_1st_line and skip_line functions to ifstream class
          10 // version 1.4 : Removed the use of smart ptr.
          11 // version 1.5 : Performance increase on writing without flushing every line.
          12 // version 1.6 : Add string streams
          13 // version 1.7 : You MUST specify the escape/unescape string when calling set_delimiter. Option to surround/trim string with quotes
          14 // version 1.7.1 : Add stream operator overload usage in example.cpp
          15 // Disable the surround/trim quote on text by default
          16 // version 1.7.2 : Stream operator overload for const char*
          17 // version 1.7.3 : Add num_of_delimiter method to ifstream and istringstream
          18 // Fix g++ compilation errors
          19 // version 1.7.4 : Add get_rest_of_line
          20 // version 1.7.5 : Add terminate_on_blank_line variable. Set to false if your file format has blank lines in between.
          21 // version 1.7.6 : Ignore delimiters within quotes during reading when enable_trim_quote_on_str is true;
          22 // version 1.7.7 : Fixed multiple symbol linkage errors
          23 // version 1.7.8 : Add quote escape/unescape. Default is "&quot;"
          24 // version 1.7.9 : Reading UTF-8 BOM
          25 // version 1.7.10 : separator class for the stream, so that no need to call set_delimiter repeatedly if delimiter keep changing
          26 // version 1.7.11 : Fixed num_of_delimiters function: do not count delimiter within quotes
          27 // version 1.8.0 : Add meaningful error message for data conversion during reading
          28 // version 1.8.1 : Put under the mini namespace
          29 
          30 //#define USE_BOOST_LEXICAL_CAST
          31 
          32 #ifndef MiniCSV_H
          33  #define MiniCSV_H
          34 
          35 #include <string>
          36 #include <sstream>
          37 #include <fstream>
          38 #include <algorithm>
          39 #include <stdexcept>
          40 
          41 #ifdef USE_BOOST_LEXICAL_CAST
          42 # include <boost/lexical_cast.hpp>
          43 #endif
          44 
          45 #define NEWLINE '\n'
          46 
          47 namespace mini
          48 {
          49 
          50  namespace csv
          51  {
          52  inline std::string const & replace(std::string & src, std::string const & to_find, std::string const & to_replace)
          53  {
          54  size_t pos = 0;
          55  while (std::string::npos != pos)
          56  {
          57  pos = src.find(to_find, pos);
          58 
          59  if (std::string::npos != pos)
          60  {
          61  src.erase(pos, to_find.size());
          62  src.insert(pos, to_replace);
          63  pos += to_replace.size();
          64  }
          65  }
          66 
          67  return src;
          68  }
          69 
          70  inline std::string trim_right(const std::string& str, const std::string& trimChars)
          71  {
          72  std::string result = "";
          73  size_t endpos = str.find_last_not_of(trimChars);
          74  if (std::string::npos != endpos)
          75  {
          76  result = str.substr(0, endpos + 1);
          77  }
          78  else
          79  result = str;
          80 
          81  return result;
          82  }
          83 
          84  inline std::string trim_left(const std::string& str, const std::string& trimChars)
          85  {
          86  std::string result = "";
          87 
          88  size_t startpos = str.find_first_not_of(trimChars);
          89  if (std::string::npos != startpos)
          90  {
          91  result = str.substr(startpos);
          92  }
          93  else
          94  result = str;
          95 
          96  return result;
          97  }
          98 
          99  inline std::string trim(const std::string& str, const std::string& trimChars)
          100  {
          101  return trim_left(trim_right(str, trimChars), trimChars);
          102  }
          103 
          104  class sep // separator class for the stream, so that no need to call set_delimiter
          105  {
          106  public:
          107  sep(const char delimiter_, const std::string& escape_) : delimiter(delimiter_), escape(escape_) {}
          108 
          109  const char get_delimiter() const { return delimiter; }
          110  const std::string& get_escape() const { return escape; }
          111  private:
          112  const char delimiter;
          113  const std::string escape;
          114  };
          115 
          116  class ifstream
          117  {
          118  public:
          119  ifstream()
          120  : str("")
          121  , pos(0)
          122  , delimiter(",")
          123  , unescape_str("##")
          124  , trim_quote_on_str(false)
          125  , trim_quote('\"')
          126  , terminate_on_blank_line(true)
          127  , quote_unescape("&quot;")
          128  , has_bom(false)
          129  , first_line_read(false)
          130  , filename("")
          131  , line_num(0)
          132  , token_num(0)
          133  {
          134  }
          135  ifstream(const char * file)
          136  {
          137  open(file);
          138  }
          139  void open(const char * file)
          140  {
          141  init();
          142  filename = file;
          143  istm.open(file, std::ios_base::in);
          144  read_bom();
          145  }
          146  void read_bom()
          147  {
          148  char tt[3] = { 0, 0, 0 };
          149 
          150  istm.read(tt, sizeof(tt));
          151 
          152  if (tt[0] == (char)0xEF || tt[1] == (char)0xBB || tt[2] == (char)0xBF) // not the correct BOM, so reset the pos to beginning (file might not have BOM)
          153  has_bom = true;
          154 
          155  istm.seekg(0, istm.beg);
          156  }
          157  void init()
          158  {
          159  str = "";
          160  pos = 0;
          161  delimiter = ',';
          162  unescape_str = "##";
          163  trim_quote_on_str = false;
          164  trim_quote = '\"';
          165  terminate_on_blank_line = true;
          166  has_bom = false;
          167  first_line_read = false;
          168  filename = "";
          169  line_num = 0;
          170  token_num = 0;
          171  }
          172  void close()
          173  {
          174  istm.close();
          175  }
          176  bool is_open()
          177  {
          178  return istm.is_open();
          179  }
          180  void enable_trim_quote_on_str(bool enable, char quote, const std::string& unescape = "&quot;")
          181  {
          182  trim_quote_on_str = enable;
          183  trim_quote = quote;
          184  quote_unescape = unescape;
          185  }
          186  // eof is replaced by read_line
          187  //bool eof() const
          188  void set_delimiter(char delimiter_, std::string const & unescape_str_)
          189  {
          190  delimiter = delimiter_;
          191  unescape_str = unescape_str_;
          192  }
          193  std::string const & get_delimiter() const
          194  {
          195  return delimiter;
          196  }
          197  std::string const & get_unescape_str() const
          198  {
          199  return unescape_str;
          200  }
          201  void skip_line()
          202  {
          203  if (!istm.eof())
          204  {
          205  std::getline(istm, str);
          206  pos = 0;
          207 
          208  if (first_line_read == false)
          209  {
          210  first_line_read = true;
          211  }
          212  }
          213  }
          214  bool read_line()
          215  {
          216  this->str = "";
          217  while (!istm.eof())
          218  {
          219  std::getline(istm, this->str);
          220  pos = 0;
          221 
          222  if (first_line_read == false)
          223  {
          224  first_line_read = true;
          225  if (has_bom)
          226  {
          227  this->str = this->str.substr(3);
          228  }
          229  }
          230 
          231  if (this->str.empty())
          232  {
          233  if (terminate_on_blank_line)
          234  break;
          235  else
          236  continue;
          237  }
          238 
          239  ++line_num;
          240  token_num = 0;
          241  return true;
          242  }
          243  return false;
          244  }
          245  std::string get_delimited_str()
          246  {
          247  std::string str = "";
          248  char ch = '\0';
          249  bool within_quote = false;
          250  do
          251  {
          252  if (pos >= this->str.size())
          253  {
          254  this->str = "";
          255 
          256  ++token_num;
          257  return unescape(str);
          258  }
          259 
          260  ch = this->str[pos];
          261  if (trim_quote_on_str)
          262  {
          263  if (within_quote == false && ch == trim_quote && ((pos > 0 && this->str[pos - 1] == delimiter[0]) || pos == 0))
          264  within_quote = true;
          265  else if (within_quote && ch == trim_quote)
          266  within_quote = false;
          267  }
          268 
          269  ++(pos);
          270 
          271  if (ch == delimiter[0] && within_quote == false)
          272  break;
          273  if (ch == '\r' || ch == '\n')
          274  break;
          275 
          276  str += ch;
          277  } while (true);
          278 
          279  ++token_num;
          280  return unescape(str);
          281  }
          282  std::string unescape(std::string & src)
          283  {
          284  src = unescape_str.empty() ? src : replace(src, unescape_str, delimiter);
          285 
          286  if (trim_quote_on_str)
          287  {
          288  std::string s = trim(src, std::string(1, trim_quote));
          289  return replace(s, quote_unescape, std::string(1, trim_quote));
          290  }
          291 
          292  return src;
          293  }
          294  size_t num_of_delimiter() const
          295  {
          296  if (delimiter.size() == 0)
          297  return 0;
          298 
          299  size_t cnt = 0;
          300  if (trim_quote_on_str)
          301  {
          302  bool inside_quote = false;
          303  for (size_t i = 0; i < str.size(); ++i)
          304  {
          305  if (str[i] == trim_quote)
          306  inside_quote = !inside_quote;
          307 
          308  if (!inside_quote)
          309  {
          310  if (str[i] == delimiter[0])
          311  ++cnt;
          312  }
          313  }
          314  }
          315  else
          316  {
          317  cnt = std::count(str.begin(), str.end(), delimiter[0]);
          318  }
          319  return cnt;
          320  }
          321  std::string get_rest_of_line() const
          322  {
          323  return str.substr(pos);
          324  }
          325  const std::string& get_line() const
          326  {
          327  return str;
          328  }
          329  void enable_terminate_on_blank_line(bool enable)
          330  {
          331  terminate_on_blank_line = enable;
          332  }
          333  bool is_terminate_on_blank_line() const
          334  {
          335  return terminate_on_blank_line;
          336  }
          337  std::string error_line(const std::string& token)
          338  {
          339  std::ostringstream is;
          340  is << "csv::ifstream Conversion error at line no.:" << line_num << ", filename:" << filename << ", token position:" << token_num << ", token:" << token;
          341  return is.str();
          342  }
          343 
          344  private:
          345  std::ifstream istm;
          346  std::string str;
          347  size_t pos;
          348  std::string delimiter;
          349  std::string unescape_str;
          350  bool trim_quote_on_str;
          351  char trim_quote;
          352  bool terminate_on_blank_line;
          353  std::string quote_unescape;
          354  bool has_bom;
          355  bool first_line_read;
          356  std::string filename;
          357  size_t line_num;
          358  size_t token_num;
          359  };
          360 
          361  class ofstream
          362  {
          363  public:
          364 
          365  ofstream()
          366  : after_newline(true)
          367  , delimiter(",")
          368  , escape_str("##")
          369  , surround_quote_on_str(false)
          370  , surround_quote('\"')
          371  , quote_escape("&quot;")
          372  {
          373  }
          374  ofstream(const char * file)
          375  {
          376  open(file);
          377  }
          378  void open(const char * file)
          379  {
          380  init();
          381  ostm.open(file, std::ios_base::out);
          382  }
          383  void init()
          384  {
          385  after_newline = true;
          386  delimiter = ',';
          387  escape_str = "##";
          388  surround_quote_on_str = false;
          389  surround_quote = '\"';
          390  quote_escape = "&quot;";
          391  }
          392  void flush()
          393  {
          394  ostm.flush();
          395  }
          396  void close()
          397  {
          398  ostm.close();
          399  }
          400  bool is_open()
          401  {
          402  return ostm.is_open();
          403  }
          404  void enable_surround_quote_on_str(bool enable, char quote, const std::string& escape = "&quot;")
          405  {
          406  surround_quote_on_str = enable;
          407  surround_quote = quote;
          408  quote_escape = escape;
          409  }
          410  void set_delimiter(char delimiter_, std::string const & escape_str_)
          411  {
          412  delimiter = delimiter_;
          413  escape_str = escape_str_;
          414  }
          415  std::string const & get_delimiter() const
          416  {
          417  return delimiter;
          418  }
          419  std::string const & get_escape_str() const
          420  {
          421  return escape_str;
          422  }
          423  void set_after_newline(bool after_newline_)
          424  {
          425  after_newline = after_newline_;
          426  }
          427  bool get_after_newline() const
          428  {
          429  return after_newline;
          430  }
          431  std::ofstream& get_ofstream()
          432  {
          433  return ostm;
          434  }
          435  void escape_and_output(std::string src)
          436  {
          437  ostm << ((escape_str.empty()) ? src : replace(src, delimiter, escape_str));
          438  }
          439  void escape_str_and_output(std::string src)
          440  {
          441  src = ((escape_str.empty()) ? src : replace(src, delimiter, escape_str));
          442  if (surround_quote_on_str)
          443  {
          444  if (!quote_escape.empty())
          445  {
          446  src = replace(src, std::string(1, surround_quote), quote_escape);
          447  }
          448  ostm << surround_quote << src << surround_quote;
          449  }
          450  else
          451  {
          452  ostm << src;
          453  }
          454  }
          455  private:
          456  std::ofstream ostm;
          457  bool after_newline;
          458  std::string delimiter;
          459  std::string escape_str;
          460  bool surround_quote_on_str;
          461  char surround_quote;
          462  std::string quote_escape;
          463  };
          464 
          465 
          466  } // ns csv
          467 } // ns mini
          468 
          469 template<typename T>
          470 mini::csv::ifstream& operator >> (mini::csv::ifstream& istm, T& val)
          471 {
          472  std::string str = istm.get_delimited_str();
          473 
          474 #ifdef USE_BOOST_LEXICAL_CAST
          475  try
          476  {
          477  val = boost::lexical_cast<T>(str);
          478  }
          479  catch (boost::bad_lexical_cast& e)
          480  {
          481  throw std::runtime_error(istm.error_line(str).c_str());
          482  }
          483 #else
          484  std::istringstream is(str);
          485  is >> val;
          486  if (!(bool)is)
          487  {
          488  throw std::runtime_error(istm.error_line(str).c_str());
          489  }
          490 #endif
          491 
          492  return istm;
          493 }
          494 template<>
          495 inline mini::csv::ifstream& operator >> (mini::csv::ifstream& istm, std::string& val)
          496 {
          497  val = istm.get_delimited_str();
          498 
          499  return istm;
          500 }
          501 
          502 template<>
          503 inline mini::csv::ifstream& operator >> (mini::csv::ifstream& istm, mini::csv::sep& val)
          504 {
          505  istm.set_delimiter(val.get_delimiter(), val.get_escape());
          506 
          507  return istm;
          508 }
          509 
          510 template<typename T>
          511 mini::csv::ofstream& operator << (mini::csv::ofstream& ostm, const T& val)
          512 {
          513  if(!ostm.get_after_newline())
          514  ostm.get_ofstream() << ostm.get_delimiter();
          515 
          516  std::ostringstream os_temp;
          517 
          518  os_temp << val;
          519 
          520  ostm.escape_and_output(os_temp.str());
          521 
          522  ostm.set_after_newline(false);
          523 
          524  return ostm;
          525 }
          526 
          527 template<typename T>
          528 mini::csv::ofstream& operator << (mini::csv::ofstream& ostm, const T* val)
          529 {
          530  if (!ostm.get_after_newline())
          531  ostm.get_ofstream() << ostm.get_delimiter();
          532 
          533  std::ostringstream os_temp;
          534 
          535  os_temp << *val;
          536 
          537  ostm.escape_and_output(os_temp.str());
          538 
          539  ostm.set_after_newline(false);
          540 
          541  return ostm;
          542 }
          543 
          544 template<>
          545 inline mini::csv::ofstream& operator << (mini::csv::ofstream& ostm, const std::string& val)
          546 {
          547  if (!ostm.get_after_newline())
          548  ostm.get_ofstream() << ostm.get_delimiter();
          549 
          550  std::string temp = val;
          551  ostm.escape_str_and_output(temp);
          552 
          553  ostm.set_after_newline(false);
          554 
          555  return ostm;
          556 }
          557 
          558 template<>
          559 inline mini::csv::ofstream& operator << (mini::csv::ofstream& ostm, const mini::csv::sep& val)
          560 {
          561  ostm.set_delimiter(val.get_delimiter(), val.get_escape());
          562 
          563  return ostm;
          564 }
          565 
          566 template<>
          567 inline mini::csv::ofstream& operator << (mini::csv::ofstream& ostm, const char& val)
          568 {
          569  if(val==NEWLINE)
          570  {
          571  ostm.get_ofstream() << NEWLINE;
          572 
          573  ostm.set_after_newline(true);
          574  }
          575  else
          576  {
          577  std::ostringstream os_temp;
          578 
          579  os_temp << val;
          580 
          581  ostm.escape_and_output(os_temp.str());
          582  }
          583 
          584  return ostm;
          585 }
          586 template<>
          587 inline mini::csv::ofstream& operator << (mini::csv::ofstream& ostm, const char* val)
          588 {
          589  const std::string temp = val;
          590 
          591  ostm << temp;
          592 
          593  return ostm;
          594 }
          595 
          596 namespace mini
          597 {
          598  namespace csv
          599  {
          600 
          601  class istringstream
          602  {
          603  public:
          604  istringstream(const char * text)
          605  : str("")
          606  , pos(0)
          607  , delimiter(",")
          608  , unescape_str("##")
          609  , trim_quote_on_str(false)
          610  , trim_quote('\"')
          611  , terminate_on_blank_line(true)
          612  , quote_unescape("&quot;")
          613  , line_num(0)
          614  , token_num(0)
          615  {
          616  istm.str(text);
          617  }
          618  void enable_trim_quote_on_str(bool enable, char quote, const std::string& unescape = "&quot;")
          619  {
          620  trim_quote_on_str = enable;
          621  trim_quote = quote;
          622  quote_unescape = unescape;
          623  }
          624  void set_delimiter(char delimiter_, std::string const & unescape_str_)
          625  {
          626  delimiter = delimiter_;
          627  unescape_str = unescape_str_;
          628  }
          629  std::string const & get_delimiter() const
          630  {
          631  return delimiter;
          632  }
          633  std::string const & get_unescape_str() const
          634  {
          635  return unescape_str;
          636  }
          637  void skip_line()
          638  {
          639  std::getline(istm, str);
          640  pos = 0;
          641  }
          642  bool read_line()
          643  {
          644  this->str = "";
          645  while (!istm.eof())
          646  {
          647  std::getline(istm, this->str);
          648  pos = 0;
          649 
          650  if (this->str.empty())
          651  {
          652  if (terminate_on_blank_line)
          653  break;
          654  else
          655  continue;
          656  }
          657 
          658  ++line_num;
          659  token_num = 0;
          660  return true;
          661  }
          662  return false;
          663  }
          664  std::string get_delimited_str()
          665  {
          666  std::string str = "";
          667  char ch = '\0';
          668  bool within_quote = false;
          669  do
          670  {
          671  if (pos >= this->str.size())
          672  {
          673  this->str = "";
          674 
          675  ++token_num;
          676  return unescape(str);
          677  }
          678 
          679  ch = this->str[pos];
          680  if (trim_quote_on_str)
          681  {
          682  if (within_quote == false && ch == trim_quote && ((pos > 0 && this->str[pos - 1] == delimiter[0]) || pos == 0))
          683  within_quote = true;
          684  else if (within_quote && ch == trim_quote)
          685  within_quote = false;
          686  }
          687 
          688  ++(pos);
          689 
          690  if (ch == delimiter[0] && within_quote == false)
          691  break;
          692  if (ch == '\r' || ch == '\n')
          693  break;
          694 
          695  str += ch;
          696  } while (true);
          697 
          698  ++token_num;
          699  return unescape(str);
          700  }
          701 
          702  std::string unescape(std::string & src)
          703  {
          704  src = unescape_str.empty() ? src : replace(src, unescape_str, delimiter);
          705  if (trim_quote_on_str)
          706  {
          707  std::string s = trim(src, std::string(1, trim_quote));
          708  return replace(s, quote_unescape, std::string(1, trim_quote));
          709  }
          710  return src;
          711  }
          712 
          713  size_t num_of_delimiter() const
          714  {
          715  if (delimiter.size() == 0)
          716  return 0;
          717 
          718  size_t cnt = 0;
          719  if (trim_quote_on_str)
          720  {
          721  bool inside_quote = false;
          722  for (size_t i = 0; i < str.size(); ++i)
          723  {
          724  if (str[i] == trim_quote)
          725  inside_quote = !inside_quote;
          726 
          727  if (!inside_quote)
          728  {
          729  if (str[i] == delimiter[0])
          730  ++cnt;
          731  }
          732  }
          733  }
          734  else
          735  {
          736  cnt = std::count(str.begin(), str.end(), delimiter[0]);
          737  }
          738  return cnt;
          739  }
          740  std::string get_rest_of_line() const
          741  {
          742  return str.substr(pos);
          743  }
          744  const std::string& get_line() const
          745  {
          746  return str;
          747  }
          748  void enable_terminate_on_blank_line(bool enable)
          749  {
          750  terminate_on_blank_line = enable;
          751  }
          752  bool is_terminate_on_blank_line() const
          753  {
          754  return terminate_on_blank_line;
          755  }
          756  std::string error_line(const std::string& token)
          757  {
          758  std::ostringstream is;
          759  is << "csv::istringstream conversion error at line no.:" << line_num << ", token position:" << token_num << ", token:" << token;
          760  return is.str();
          761  }
          762 
          763  private:
          764  std::istringstream istm;
          765  std::string str;
          766  size_t pos;
          767  std::string delimiter;
          768  std::string unescape_str;
          769  bool trim_quote_on_str;
          770  char trim_quote;
          771  bool terminate_on_blank_line;
          772  std::string quote_unescape;
          773  size_t line_num;
          774  size_t token_num;
          775  };
          776 
          777  class ostringstream
          778  {
          779  public:
          780 
          781  ostringstream()
          782  : after_newline(true)
          783  , delimiter(",")
          784  , escape_str("##")
          785  , surround_quote_on_str(false)
          786  , surround_quote('\"')
          787  , quote_escape("&quot;")
          788  {
          789  }
          790  void enable_surround_quote_on_str(bool enable, char quote, const std::string& escape = "&quot;")
          791  {
          792  surround_quote_on_str = enable;
          793  surround_quote = quote;
          794  quote_escape = escape;
          795  }
          796  void set_delimiter(char delimiter_, std::string const & escape_str_)
          797  {
          798  delimiter = delimiter_;
          799  escape_str = escape_str_;
          800  }
          801  std::string const & get_delimiter() const
          802  {
          803  return delimiter;
          804  }
          805  std::string const & get_escape_str() const
          806  {
          807  return escape_str;
          808  }
          809  void set_after_newline(bool after_newline_)
          810  {
          811  after_newline = after_newline_;
          812  }
          813  bool get_after_newline() const
          814  {
          815  return after_newline;
          816  }
          817  std::ostringstream& get_ostringstream()
          818  {
          819  return ostm;
          820  }
          821  std::string get_text()
          822  {
          823  return ostm.str();
          824  }
          825  void escape_and_output(std::string src)
          826  {
          827  ostm << ((escape_str.empty()) ? src : replace(src, delimiter, escape_str));
          828  }
          829  void escape_str_and_output(std::string src)
          830  {
          831  src = ((escape_str.empty()) ? src : replace(src, delimiter, escape_str));
          832  if (surround_quote_on_str)
          833  {
          834  if (!quote_escape.empty())
          835  {
          836  src = replace(src, std::string(1, surround_quote), quote_escape);
          837  }
          838  ostm << surround_quote << src << surround_quote;
          839  }
          840  else
          841  {
          842  ostm << src;
          843  }
          844  }
          845 
          846  private:
          847  std::ostringstream ostm;
          848  bool after_newline;
          849  std::string delimiter;
          850  std::string escape_str;
          851  bool surround_quote_on_str;
          852  char surround_quote;
          853  std::string quote_escape;
          854  };
          855 
          856 
          857  } // ns csv
          858 } // ns mini
          859 
          860 template<typename T>
          861 mini::csv::istringstream& operator >> (mini::csv::istringstream& istm, T& val)
          862 {
          863  std::string str = istm.get_delimited_str();
          864 
          865 #ifdef USE_BOOST_LEXICAL_CAST
          866  try
          867  {
          868  val = boost::lexical_cast<T>(str);
          869  }
          870  catch (boost::bad_lexical_cast& e)
          871  {
          872  throw std::runtime_error(istm.error_line(str).c_str());
          873  }
          874 #else
          875  std::istringstream is(str);
          876  is >> val;
          877  if (!(bool)is)
          878  {
          879  throw std::runtime_error(istm.error_line(str).c_str());
          880  }
          881 #endif
          882 
          883  return istm;
          884 }
          885 template<>
          886 inline mini::csv::istringstream& operator >> (mini::csv::istringstream& istm, std::string& val)
          887 {
          888  val = istm.get_delimited_str();
          889 
          890  return istm;
          891 }
          892 
          893 template<>
          894 inline mini::csv::istringstream& operator >> (mini::csv::istringstream& istm, mini::csv::sep& val)
          895 {
          896  istm.set_delimiter(val.get_delimiter(), val.get_escape());
          897 
          898  return istm;
          899 }
          900 
          901 template<typename T>
          902 mini::csv::ostringstream& operator << (mini::csv::ostringstream& ostm, const T& val)
          903 {
          904  if (!ostm.get_after_newline())
          905  ostm.get_ostringstream() << ostm.get_delimiter();
          906 
          907  std::ostringstream os_temp;
          908 
          909  os_temp << val;
          910 
          911  ostm.escape_and_output(os_temp.str());
          912 
          913  ostm.set_after_newline(false);
          914 
          915  return ostm;
          916 }
          917 template<typename T>
          918 mini::csv::ostringstream& operator << (mini::csv::ostringstream& ostm, const T* val)
          919 {
          920  if (!ostm.get_after_newline())
          921  ostm.get_ostringstream() << ostm.get_delimiter();
          922 
          923  std::ostringstream os_temp;
          924 
          925  os_temp << *val;
          926 
          927  ostm.escape_and_output(os_temp.str());
          928 
          929  ostm.set_after_newline(false);
          930 
          931  return ostm;
          932 }
          933 template<>
          934 inline mini::csv::ostringstream& operator << (mini::csv::ostringstream& ostm, const std::string& val)
          935 {
          936  if (!ostm.get_after_newline())
          937  ostm.get_ostringstream() << ostm.get_delimiter();
          938 
          939  std::string temp = val;
          940  ostm.escape_str_and_output(temp);
          941 
          942  ostm.set_after_newline(false);
          943 
          944  return ostm;
          945 }
          946 template<>
          947 inline mini::csv::ostringstream& operator << (mini::csv::ostringstream& ostm, const mini::csv::sep& val)
          948 {
          949  ostm.set_delimiter(val.get_delimiter(), val.get_escape());
          950 
          951  return ostm;
          952 }
          953 
          954 template<>
          955 inline mini::csv::ostringstream& operator << (mini::csv::ostringstream& ostm, const char& val)
          956 {
          957  if (val == NEWLINE)
          958  {
          959  ostm.get_ostringstream() << NEWLINE;
          960 
          961  ostm.set_after_newline(true);
          962  }
          963  else
          964  {
          965  std::ostringstream os_temp;
          966 
          967  os_temp << val;
          968 
          969  ostm.escape_and_output(os_temp.str());
          970  }
          971 
          972  return ostm;
          973 }
          974 template<>
          975 inline mini::csv::ostringstream& operator << (mini::csv::ostringstream& ostm, const char* val)
          976 {
          977  const std::string temp = val;
          978 
          979  ostm << temp;
          980 
          981  return ostm;
          982 }
          983 
          984 
          985 #endif // MiniCSV_H
          + + +
          mini::csv::trim_left
          std::string trim_left(const std::string &str, const std::string &trimChars)
          Definition: minicsv.h:84
          +
          NEWLINE
          #define NEWLINE
          Definition: minicsv.h:45
          + +
          operator>>
          mini::csv::ifstream & operator>>(mini::csv::ifstream &istm, T &val)
          Definition: minicsv.h:470
          +
          mini::csv::sep::delimiter
          const char delimiter
          Definition: minicsv.h:112
          +
          mini
          Definition: minicsv.h:47
          +
          mini::csv::sep::escape
          const std::string escape
          Definition: minicsv.h:113
          +
          mini::csv::sep::sep
          sep(const char delimiter_, const std::string &escape_)
          Definition: minicsv.h:107
          +
          mini::csv::trim_right
          std::string trim_right(const std::string &str, const std::string &trimChars)
          Definition: minicsv.h:70
          +
          mini::csv::replace
          std::string const & replace(std::string &src, std::string const &to_find, std::string const &to_replace)
          Definition: minicsv.h:52
          +
          mini::csv::sep::get_escape
          const std::string & get_escape() const
          Definition: minicsv.h:110
          +
          mini::csv::sep::get_delimiter
          const char get_delimiter() const
          Definition: minicsv.h:109
          +
          operator<<
          mini::csv::ofstream & operator<<(mini::csv::ofstream &ostm, const T &val)
          Definition: minicsv.h:511
          + +
          mini::csv::trim
          std::string trim(const std::string &str, const std::string &trimChars)
          Definition: minicsv.h:99
          +
          + +
          +
          +pfuclt_omni_dataset
          +Author(s):
          +autogenerated on Mon Jul 3 2017 16:11:28 +
          + + diff --git a/doc/html/c++/namespacemembers.html b/doc/html/c++/namespacemembers.html index 80dd515..7c8af19 100644 --- a/doc/html/c++/namespacemembers.html +++ b/doc/html/c++/namespacemembers.html @@ -9,6 +9,7 @@ @@ -23,20 +24,76 @@
        • All
        • Functions
        • Variables
          • +
        • Typedefs
          • +
        • Enumerations
          • +
        • Enumerator
          • +
        + +
        -
        Here is a list of all namespace members with links to the namespace documentation for each member:
        +
        +  +
        + +
        +
        +pfuclt_omni_dataset
        +Author(s):
        +autogenerated on Mon Jul 3 2017 16:11:29 +
        + + diff --git a/doc/html/c++/namespacemembers_eval.html b/doc/html/c++/namespacemembers_eval.html new file mode 100644 index 0000000..690d170 --- /dev/null +++ b/doc/html/c++/namespacemembers_eval.html @@ -0,0 +1,51 @@ + +pfuclt_omni_dataset: Namespace Members + + + + + + + + + +
        +  +
        + +
        +
        +pfuclt_omni_dataset
        +Author(s):
        +autogenerated on Mon Jul 3 2017 16:11:29 +
        + + diff --git a/doc/html/c++/namespacemembers_func.html b/doc/html/c++/namespacemembers_func.html index 2934310..93d0422 100644 --- a/doc/html/c++/namespacemembers_func.html +++ b/doc/html/c++/namespacemembers_func.html @@ -9,6 +9,7 @@ @@ -23,17 +24,41 @@
      • All
      • Functions
      • Variables
        • +
      • Typedefs
        • +
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        • +
      • Enumerator
       
      @@ -41,7 +66,7 @@
      pfuclt_omni_dataset
      Author(s):
      -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
      diff --git a/doc/html/c++/namespacemembers_type.html b/doc/html/c++/namespacemembers_type.html new file mode 100644 index 0000000..467192a --- /dev/null +++ b/doc/html/c++/namespacemembers_type.html @@ -0,0 +1,78 @@ + +pfuclt_omni_dataset: Namespace Members + + + + + + + + + +
      +  +
      + +
      +
      +pfuclt_omni_dataset
      +Author(s):
      +autogenerated on Mon Jul 3 2017 16:11:29 +
      + + diff --git a/doc/html/c++/namespacemembers_vars.html b/doc/html/c++/namespacemembers_vars.html index a08ccd4..c6e26c5 100644 --- a/doc/html/c++/namespacemembers_vars.html +++ b/doc/html/c++/namespacemembers_vars.html @@ -9,6 +9,7 @@ @@ -23,6 +24,9 @@
    • All
    • Functions
    • Variables
      • +
    • Typedefs
      • +
    • Enumerations
      • +
    • Enumerator
    @@ -98,7 +102,7 @@
    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/namespacemini.html b/doc/html/c++/namespacemini.html new file mode 100644 index 0000000..385d250 --- /dev/null +++ b/doc/html/c++/namespacemini.html @@ -0,0 +1,45 @@ + +pfuclt_omni_dataset: mini Namespace Reference + + + + + + + + +
    +
    +Namespaces
    +
    +
    mini Namespace Reference
    +
    +
    + + + + +

    +Namespaces

     csv
     
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/namespacemini_1_1csv.html b/doc/html/c++/namespacemini_1_1csv.html new file mode 100644 index 0000000..437dd29 --- /dev/null +++ b/doc/html/c++/namespacemini_1_1csv.html @@ -0,0 +1,220 @@ + +pfuclt_omni_dataset: mini::csv Namespace Reference + + + + + + + + + +
    +
    +Classes | +Functions
    +
    +
    mini::csv Namespace Reference
    +
    +
    + + + + + + + + + + + + +

    +Classes

    class  ifstream
     
    class  istringstream
     
    class  ofstream
     
    class  ostringstream
     
    class  sep
     
    + + + + + + + + + +

    +Functions

    std::string const & replace (std::string &src, std::string const &to_find, std::string const &to_replace)
     
    std::string trim (const std::string &str, const std::string &trimChars)
     
    std::string trim_left (const std::string &str, const std::string &trimChars)
     
    std::string trim_right (const std::string &str, const std::string &trimChars)
     
    +

    Function Documentation

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    std::string const& mini::csv::replace (std::string & src,
    std::string const & to_find,
    std::string const & to_replace 
    )
    +     		+inline
    +
    + +

    Definition at line 52 of file minicsv.h.

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    std::string mini::csv::trim (const std::string & str,
    const std::string & trimChars 
    )
    +     		+inline
    +
    + +

    Definition at line 99 of file minicsv.h.

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    std::string mini::csv::trim_left (const std::string & str,
    const std::string & trimChars 
    )
    +     		+inline
    +
    + +

    Definition at line 84 of file minicsv.h.

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    std::string mini::csv::trim_right (const std::string & str,
    const std::string & trimChars 
    )
    +     		+inline
    +
    + +

    Definition at line 70 of file minicsv.h.

    + +
    +
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/namespacepfuclt.html b/doc/html/c++/namespacepfuclt.html index e4e83bf..c56ff93 100644 --- a/doc/html/c++/namespacepfuclt.html +++ b/doc/html/c++/namespacepfuclt.html @@ -9,6 +9,7 @@ @@ -21,12 +22,28 @@
    +Classes | +Typedefs | Variables
    pfuclt Namespace Reference
    + + + + + + + +

    +Classes

    class  Robot
     The Robot class - Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class. More...
     
    class  RobotFactory
     The RobotFactory class - Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots. More...
     
    + + + +

    +Typedefs

    typedef boost::shared_ptr< Robot > Robot_ptr
     
    @@ -43,7 +60,7 @@ - + @@ -72,6 +89,21 @@

    Variables

    std::vector< double > CUSTOM_PARTICLE_INIT
     
    float K5
     
    std::vector< pfuclt_aux::Landmark > landmarks
    std::vector< pfuclt_aux::Landmark > landmarks
     
    int MAX_ROBOTS
     
    bool USE_CUSTOM_VALUES = false
     
    +

    Typedef Documentation

    + +
    +
    + + + + +
    typedef boost::shared_ptr<Robot> pfuclt::Robot_ptr
    +
    + +

    Definition at line 38 of file pfuclt_omni_dataset.h.

    + +
    +

    Variable Documentation

    @@ -176,7 +208,7 @@

    Variable Documentation

    - +
    std::vector<pfuclt_aux::Landmark> pfuclt::landmarksstd::vector<pfuclt_aux::Landmark> pfuclt::landmarks
    @@ -373,7 +405,7 @@

    Variable Documentation

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/namespacepfuclt__aux.html b/doc/html/c++/namespacepfuclt__aux.html index 61c6851..e2382e6 100644 --- a/doc/html/c++/namespacepfuclt__aux.html +++ b/doc/html/c++/namespacepfuclt__aux.html @@ -9,6 +9,7 @@
    @@ -21,26 +22,153 @@
    +Classes | +Typedefs | +Enumerations | Functions
    pfuclt_aux Namespace Reference
    + + + + + + + +

    +Classes

    struct  landmark_s
     The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. More...
     
    struct  timeEval_s
     The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. More...
     
    + + + + + + + +

    +Typedefs

    typedef struct pfuclt_aux::landmark_s Landmark
     The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. More...
     
    typedef struct pfuclt_aux::timeEval_s TimeEval
     The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. More...
     
    + + + + +

    +Enumerations

    enum  ORDER_TYPE { ASC, +DESC + }
     The ORDER_TYPE enum - use to define an ascending or descending ordering. More...
     
    - - + + + + + + + + + + + + + + + + + + +

    Functions

    std::vector< Landmark > getLandmarks (const char *filename)
     
    template<typename T >
    double calc_stdDev (const std::vector< T > &vec)
     calc_stdDev - Calculates standard deviation from a vector of type T More...
     
    std::vector< Landmark > getLandmarks (const char *filename)
     getLandmarks - read landmark configuration from CSV file More...
     
    double linearRegressionSlope (const std::vector< double > &x, const std::vector< double > &y)
     linearRegressionSlope - applies linear regression to a set of data and calculates the slope More...
     
    template<typename T >
    std::vector< unsigned int > order_index (std::vector< T > const &values, const ORDER_TYPE order=pfuclt_aux::DESC)
     order_index - Generates a vector of indexes ordered according to another vector More...
     
    template<typename T >
    bool readParam (ros::NodeHandle &nh, const std::string name, T &variable)
     readParam - reads and returns a parameter from the ROS parameter server More...
     
    template<typename T >
    bool readParam (ros::NodeHandle &nh, const std::string name, std::vector< T > &variable)
     
    +

    Typedef Documentation

    + +
    +
    + + + + +
    typedef struct pfuclt_aux::landmark_s pfuclt_aux::Landmark
    +
    + +

    The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}.

    + +
    +
    + +
    +
    + + + + +
    typedef struct pfuclt_aux::timeEval_s pfuclt_aux::TimeEval
    +
    + +

    The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods.

    + +
    +
    +

    Enumeration Type Documentation

    + +
    +
    + + + + +
    enum pfuclt_aux::ORDER_TYPE
    +
    + +

    The ORDER_TYPE enum - use to define an ascending or descending ordering.

    + + + +
    Enumerator
    ASC  +
    DESC  +
    + +

    Definition at line 20 of file pfuclt_aux.h.

    + +
    +

    Function Documentation

    - +
    +
    +template<typename T >
    - + + + + + + +
    std::vector<Landmark> pfuclt_aux::getLandmarks double pfuclt_aux::calc_stdDev (const std::vector< T > & vec)
    +
    + +

    calc_stdDev - Calculates standard deviation from a vector of type T

    +
    Parameters
    + + +
    vec- vector of type T with values to calculate std.dev
    +
    +
    +
    Returns
    standard deviation as a double
    + +

    Definition at line 49 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + @@ -49,6 +177,16 @@

    Function Documentation

    std::vector< Landmark > pfuclt_aux::getLandmarks ( const char *  filename)
    +

    getLandmarks - read landmark configuration from CSV file

    +
    Parameters
    + + +
    filename- the CSV file
    +
    +
    +
    Returns
    lm_vec
    +
    Remarks
    if filename empty, not found or unreadable, will return empty vector
    +

    Definition at line 7 of file pfuclt_aux.cpp.

    @@ -77,8 +215,142 @@

    Function Documentation

    +

    linearRegressionSlope - applies linear regression to a set of data and calculates the slope

    +
    Parameters
    + + + +
    x- vector of time (or other) data
    y- vector of data
    +
    +
    +
    Returns
    slope of the linear regression affine function
    +

    Definition at line 27 of file pfuclt_aux.cpp.

    +
    +
    + +
    +
    +
    +template<typename T >
    + + + + + + + + + + + + + + + + + + +
    std::vector<unsigned int> pfuclt_aux::order_index (std::vector< T > const & values,
    const ORDER_TYPE order = pfuclt_aux::DESC 
    )
    +
    + +

    order_index - Generates a vector of indexes ordered according to another vector

    +
    Parameters
    + + + +
    values- vector of type T containing the values to order
    order- enum of ORDER_TYPE to order in ascending or descending order - defaults to DESC
    +
    +
    +
    Returns
    vector of unsigned ints with the desired ordering of indexes
    +
    Remarks
    vector values will not be modified
    + +

    Definition at line 68 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    +
    +template<typename T >
    + + + + + + + + + + + + + + + + + + + + + + + + +
    bool pfuclt_aux::readParam (ros::NodeHandle & nh,
    const std::string name,
    T & variable 
    )
    +
    + +

    readParam - reads and returns a parameter from the ROS parameter server

    +
    Parameters
    + + + + +
    nh- pointer to the ROS nodehandle that will perform the parameter reading task
    name- the parameter's name
    variable- pointer to the location where the parameter should be stored as type T
    +
    +
    +
    Returns
    + +

    Definition at line 105 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    +
    +template<typename T >
    + + + + + + + + + + + + + + + + + + + + + + + + +
    bool pfuclt_aux::readParam (ros::NodeHandle & nh,
    const std::string name,
    std::vector< T > & variable 
    )
    +
    + +

    Definition at line 132 of file pfuclt_aux.h.

    +
    @@ -87,7 +359,7 @@

    Function Documentation

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/namespacepfuclt__ptcls.html b/doc/html/c++/namespacepfuclt__ptcls.html index 2bc6099..bb73863 100644 --- a/doc/html/c++/namespacepfuclt__ptcls.html +++ b/doc/html/c++/namespacepfuclt__ptcls.html @@ -9,6 +9,7 @@ @@ -20,17 +21,161 @@
    +
    +Classes | +Typedefs
    pfuclt_ptcls Namespace Reference
    + + + + + + + + + + + + + +

    +Classes

    struct  landmarkObs_s
     
    struct  odometry_s
     
    class  ParticleFilter
     
    class  PFPublisher
     The PFPublisher class - implements publishing for the ParticleFilter class using ROS. More...
     
    struct  targetObs_s
     
    + + + + + + + + + + + + + + + + + +

    +Typedefs

    typedef double(* estimatorFunc) (const std::vector< double > &, const std::vector< double > &)
     
    typedef struct pfuclt_ptcls::landmarkObs_s LandmarkObservation
     
    typedef struct pfuclt_ptcls::odometry_s Odometry
     
    typedef std::vector< subparticles_t > particles_t
     
    typedef float pdata_t
     
    typedef boost::random::mt19937 RNGType
     
    typedef std::vector< pdata_t > subparticles_t
     
    typedef struct pfuclt_ptcls::targetObs_s TargetObservation
     
    +

    Typedef Documentation

    + +
    +
    + + + + +
    typedef double(* pfuclt_ptcls::estimatorFunc) (const std::vector< double > &, const std::vector< double > &)
    +
    + +

    Definition at line 62 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    typedef struct pfuclt_ptcls::landmarkObs_s pfuclt_ptcls::LandmarkObservation
    +
    + +
    +
    + +
    +
    + + + + +
    typedef struct pfuclt_ptcls::odometry_s pfuclt_ptcls::Odometry
    +
    + +
    +
    + +
    +
    + + + + +
    typedef std::vector<subparticles_t> pfuclt_ptcls::particles_t
    +
    + +

    Definition at line 91 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    typedef float pfuclt_ptcls::pdata_t
    +
    + +

    Definition at line 60 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    typedef boost::random::mt19937 pfuclt_ptcls::RNGType
    +
    + +

    Definition at line 94 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    typedef std::vector<pdata_t> pfuclt_ptcls::subparticles_t
    +
    + +

    Definition at line 90 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    typedef struct pfuclt_ptcls::targetObs_s pfuclt_ptcls::TargetObservation
    +
    + +
    +

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/namespaces.html b/doc/html/c++/namespaces.html index 1fbc174..b854171 100644 --- a/doc/html/c++/namespaces.html +++ b/doc/html/c++/namespaces.html @@ -9,6 +9,7 @@ @@ -25,10 +26,12 @@
    Here is a list of all namespaces with brief descriptions:
    - - - - +
    [detail level 12]
     Npfuclt
     Npfuclt_aux
     Npfuclt_ptcls
    + + + + +
     ▼Nmini
     Ncsv
     Npfuclt
     Npfuclt_aux
     Npfuclt_ptcls
    @@ -37,7 +40,7 @@
    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/ompver_8c.html b/doc/html/c++/ompver_8c.html index 0d71865..bcd2b9d 100644 --- a/doc/html/c++/ompver_8c.html +++ b/doc/html/c++/ompver_8c.html @@ -9,6 +9,7 @@ @@ -37,8 +38,6 @@ Include dependency graph for ompver.c:
    - -

    Go to the source code of this file.

    @@ -103,7 +102,7 @@

    Variable Documentation

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/ompver_8c_source.html b/doc/html/c++/ompver_8c_source.html index 40dd77f..21597c3 100644 --- a/doc/html/c++/ompver_8c_source.html +++ b/doc/html/c++/ompver_8c_source.html @@ -9,6 +9,7 @@ @@ -36,7 +37,7 @@
    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
    diff --git a/doc/html/c++/ompver_8cpp.html b/doc/html/c++/ompver_8cpp.html index 5d4a3b1..d32aa92 100644 --- a/doc/html/c++/ompver_8cpp.html +++ b/doc/html/c++/ompver_8cpp.html @@ -9,6 +9,7 @@ @@ -37,8 +38,6 @@ Include dependency graph for ompver.cpp:
    - -

    Go to the source code of this file.

    @@ -103,7 +102,7 @@

    Variable Documentation

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/ompver_8cpp_source.html b/doc/html/c++/ompver_8cpp_source.html index ada3f36..9950baa 100644 --- a/doc/html/c++/ompver_8cpp_source.html +++ b/doc/html/c++/ompver_8cpp_source.html @@ -9,6 +9,7 @@ @@ -36,7 +37,7 @@
    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
    diff --git a/doc/html/c++/pfuclt__aux_8cpp.html b/doc/html/c++/pfuclt__aux_8cpp.html index 5a01618..cd8b471 100644 --- a/doc/html/c++/pfuclt__aux_8cpp.html +++ b/doc/html/c++/pfuclt__aux_8cpp.html @@ -9,6 +9,7 @@ @@ -31,14 +32,16 @@
    pfuclt_aux.cpp File Reference
    -
    #include <pfuclt_omni_dataset/pfuclt_aux.h>
    -#include <minicsv/minicsv.h>
    +
    #include <pfuclt_omni_dataset/pfuclt_aux.h>
    +#include <minicsv/minicsv.h>
    #include <iostream>
    Include dependency graph for pfuclt_aux.cpp:
    + +
    @@ -51,9 +54,11 @@ - - + + + +

    Functions

    std::vector< Landmark > pfuclt_aux::getLandmarks (const char *filename)
     
    std::vector< Landmark > pfuclt_aux::getLandmarks (const char *filename)
     getLandmarks - read landmark configuration from CSV file More...
     
    double pfuclt_aux::linearRegressionSlope (const std::vector< double > &x, const std::vector< double > &y)
     linearRegressionSlope - applies linear regression to a set of data and calculates the slope More...
     
    @@ -62,7 +67,7 @@
    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
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    • @@ -28,16 +29,23 @@
    pfuclt_aux.cpp
    -Go to the documentation of this file.
    1 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    2 #include <minicsv/minicsv.h>
    3 #include <iostream>
    4 
    5 namespace pfuclt_aux
    6 {
    7 std::vector<Landmark> getLandmarks(const char* filename)
    8 {
    9  std::vector<Landmark> lm_vec;
    10  mini::csv::ifstream is(filename);
    11 
    12  if (is.is_open())
    13  {
    14  Landmark lm;
    15  while (is.read_line())
    16  {
    17  // order is serial,x,y\n
    18  is >> lm.serial >> lm.x >> lm.y;
    19  lm_vec.push_back(lm);
    20  }
    21  }
    22 
    23  is.close();
    24  return lm_vec;
    25 }
    26 
    27 double linearRegressionSlope(const std::vector<double>& x, const std::vector<double>& y)
    28 {
    29  const size_t size = x.size();
    30  const double s_y = std::accumulate(y.begin(), y.end(), 0.0);
    31  const double s_x = std::accumulate(x.begin(), x.end(), 0.0);
    32  const double s_xx = std::inner_product(x.begin(), x.end(), x.begin(), 0.0);
    33  const double s_xy = std::inner_product(x.begin(), x.end(), y.begin(), 0.0);
    34 
    35  const double slope = (size*s_xy - s_x*s_y) / (size*s_xx - s_x*s_x);
    36  return slope;
    37 }
    38 
    39 // end of namespace
    40 }
    pfuclt_aux::getLandmarks
    std::vector< Landmark > getLandmarks(const char *filename)
    Definition: pfuclt_aux.cpp:7
    -
    pfuclt_aux
    Definition: pfuclt_aux.cpp:5
    -
    pfuclt_aux::linearRegressionSlope
    double linearRegressionSlope(const std::vector< double > &x, const std::vector< double > &y)
    Definition: pfuclt_aux.cpp:27
    +Go to the documentation of this file.
    1 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    2 #include <minicsv/minicsv.h>
    3 #include <iostream>
    4 
    5 namespace pfuclt_aux
    6 {
    7 std::vector<Landmark> getLandmarks(const char* filename)
    8 {
    9  std::vector<Landmark> lm_vec;
    10  mini::csv::ifstream is(filename);
    11 
    12  if (is.is_open())
    13  {
    14  Landmark lm;
    15  while (is.read_line())
    16  {
    17  // order is serial,x,y\n
    18  is >> lm.serial >> lm.x >> lm.y;
    19  lm_vec.push_back(lm);
    20  }
    21  }
    22 
    23  is.close();
    24  return lm_vec;
    25 }
    26 
    27 double linearRegressionSlope(const std::vector<double>& x, const std::vector<double>& y)
    28 {
    29  const size_t size = x.size();
    30  const double s_y = std::accumulate(y.begin(), y.end(), 0.0);
    31  const double s_x = std::accumulate(x.begin(), x.end(), 0.0);
    32  const double s_xx = std::inner_product(x.begin(), x.end(), x.begin(), 0.0);
    33  const double s_xy = std::inner_product(x.begin(), x.end(), y.begin(), 0.0);
    34 
    35  const double slope = (size*s_xy - s_x*s_y) / (size*s_xx - s_x*s_x);
    36  return slope;
    37 }
    38 
    39 // end of namespace
    40 }
    pfuclt_aux::landmark_s::y
    float y
    Definition: pfuclt_aux.h:33
    +
    pfuclt_aux::landmark_s::serial
    int serial
    Definition: pfuclt_aux.h:32
    + +
    pfuclt_aux::landmark_s
    The Landmark struct - used to store a landmark, defined by its serial number, and its position {x...
    Definition: pfuclt_aux.h:30
    +
    pfuclt_aux
    Definition: pfuclt_aux.h:14
    + +
    pfuclt_aux::getLandmarks
    std::vector< Landmark > getLandmarks(const char *filename)
    getLandmarks - read landmark configuration from CSV file
    Definition: pfuclt_aux.cpp:7
    +
    pfuclt_aux::landmark_s::x
    float x
    Definition: pfuclt_aux.h:33
    +
    pfuclt_aux::linearRegressionSlope
    double linearRegressionSlope(const std::vector< double > &x, const std::vector< double > &y)
    linearRegressionSlope - applies linear regression to a set of data and calculates the slope ...
    Definition: pfuclt_aux.cpp:27
    +
    pfuclt_aux.h

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
    diff --git a/doc/html/c++/pfuclt__aux_8h.html b/doc/html/c++/pfuclt__aux_8h.html new file mode 100644 index 0000000..dc165ab --- /dev/null +++ b/doc/html/c++/pfuclt__aux_8h.html @@ -0,0 +1,133 @@ + +pfuclt_omni_dataset: pfuclt_aux.h File Reference + + + + + + + + +
    +
    +
    +Classes | +Namespaces | +Typedefs | +Enumerations | +Functions
    +
    +
    pfuclt_aux.h File Reference
    +
    +
    +
    #include <ros/ros.h>
    +#include <vector>
    +#include <fstream>
    +#include <pfuclt_omni_dataset/pfuclt_aux.h>
    +#include <boost/ref.hpp>
    +#include <boost/accumulators/accumulators.hpp>
    +#include <boost/accumulators/statistics.hpp>
    +#include <boost/spirit/include/phoenix_core.hpp>
    +#include <boost/spirit/include/phoenix_operator.hpp>
    +
    +Include dependency graph for pfuclt_aux.h:
    +
    +
    + + +
    +
    +This graph shows which files directly or indirectly include this file:
    +
    +
    + + + + + + + +
    +
    +

    Go to the source code of this file.

    + + + + + + + + +

    +Classes

    struct  pfuclt_aux::landmark_s
     The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. More...
     
    struct  pfuclt_aux::timeEval_s
     The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. More...
     
    + + + +

    +Namespaces

     pfuclt_aux
     
    + + + + + + + +

    +Typedefs

    typedef struct pfuclt_aux::landmark_s pfuclt_aux::Landmark
     The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. More...
     
    typedef struct pfuclt_aux::timeEval_s pfuclt_aux::TimeEval
     The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. More...
     
    + + + + +

    +Enumerations

    enum  pfuclt_aux::ORDER_TYPE { pfuclt_aux::ASC, +pfuclt_aux::DESC + }
     The ORDER_TYPE enum - use to define an ascending or descending ordering. More...
     
    + + + + + + + + + + + + + + + + + + + + + + +

    +Functions

    template<typename T >
    double pfuclt_aux::calc_stdDev (const std::vector< T > &vec)
     calc_stdDev - Calculates standard deviation from a vector of type T More...
     
    std::vector< Landmark > pfuclt_aux::getLandmarks (const char *filename)
     getLandmarks - read landmark configuration from CSV file More...
     
    double pfuclt_aux::linearRegressionSlope (const std::vector< double > &x, const std::vector< double > &y)
     linearRegressionSlope - applies linear regression to a set of data and calculates the slope More...
     
    template<typename T >
    std::vector< unsigned int > pfuclt_aux::order_index (std::vector< T > const &values, const ORDER_TYPE order=pfuclt_aux::DESC)
     order_index - Generates a vector of indexes ordered according to another vector More...
     
    template<typename T >
    bool pfuclt_aux::readParam (ros::NodeHandle &nh, const std::string name, T &variable)
     readParam - reads and returns a parameter from the ROS parameter server More...
     
    template<typename T >
    bool pfuclt_aux::readParam (ros::NodeHandle &nh, const std::string name, std::vector< T > &variable)
     
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
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    +
    +
    pfuclt_aux.h
    +
    +
    +Go to the documentation of this file.
    1 #ifndef PFUCLT_AUX_H
    2 #define PFUCLT_AUX_H
    3 
    4 #include <ros/ros.h>
    5 #include <vector>
    6 #include <fstream>
    7 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    8 #include <boost/ref.hpp>
    9 #include <boost/accumulators/accumulators.hpp>
    10 #include <boost/accumulators/statistics.hpp>
    11 #include <boost/spirit/include/phoenix_core.hpp>
    12 #include <boost/spirit/include/phoenix_operator.hpp>
    13 
    14 namespace pfuclt_aux
    15 {
    20 enum ORDER_TYPE
    21 {
    22  ASC,
    23  DESC
    24 };
    25 
    30 typedef struct landmark_s
    31 {
    32  int serial;
    33  float x, y;
    34 } Landmark;
    35 
    42 std::vector<Landmark> getLandmarks(const char* filename);
    43 
    49 template <typename T> double calc_stdDev(const std::vector<T>& vec)
    50 {
    51  using namespace boost::accumulators;
    52 
    53  accumulator_set<T, stats<tag::variance> > acc;
    54  std::for_each(vec.begin(), vec.end(), boost::bind<void>(boost::ref(acc), _1));
    55  return (double)sqrt(extract::variance(acc));
    56 }
    57 
    67 template <typename T>
    68 std::vector<unsigned int> order_index(std::vector<T> const& values,
    69  const ORDER_TYPE order = pfuclt_aux::DESC)
    70 {
    71  // from http://stackoverflow.com/a/10585614 and modified
    72  // return sorted indices of vector values
    73 
    74  using namespace boost::phoenix;
    75  using namespace boost::phoenix::arg_names;
    76 
    77  std::vector<unsigned int> indices(values.size());
    78  int i = 0;
    79  std::transform(values.begin(), values.end(), indices.begin(), ref(i)++);
    80  if (order == pfuclt_aux::DESC)
    81  {
    82  std::sort(indices.begin(), indices.end(),
    83  ref(values)[arg1] > ref(values)[arg2]);
    84  }
    85  else // ASC
    86  {
    87  std::sort(indices.begin(), indices.end(),
    88  ref(values)[arg1] < ref(values)[arg2]);
    89  }
    90 
    91  return indices;
    92 }
    93 
    104 template <typename T>
    105 bool readParam(ros::NodeHandle& nh, const std::string name, T& variable)
    106 {
    107  std::ostringstream oss;
    108  if (nh.getParam(name, variable))
    109  {
    110  oss << "Received parameter " << name << "=" << variable;
    111  ROS_INFO("%s", oss.str().c_str());
    112  return true;
    113  }
    114  else
    115  ROS_ERROR("Failed to receive parameter %s", name.c_str());
    116 
    117  return false;
    118 }
    119 
    120 /* @brief readParam (vectors) - reads and returns a parameter from the ROS
    121  * parameter
    122  * server
    123  * @param nh - reference to the ROS nodehandle that will perform the parameter
    124  * reading task
    125  * @param name - the parameter's name
    126  * @param variable - reference to the location where the parameter should be
    127  * stored as type std::vector<T>
    128  * @remark this function is overloaded from readParam for use with vectors
    129  * @return
    130  */
    131 template <typename T>
    132 bool readParam(ros::NodeHandle& nh, const std::string name,
    133  std::vector<T>& variable)
    134 {
    135  std::ostringstream oss;
    136  if (nh.getParam(name, variable))
    137  {
    138  oss << "Received parameter " << name << "=[ ";
    139  for (typename std::vector<T>::iterator it = variable.begin();
    140  it != variable.end(); ++it)
    141  {
    142  if (typeid(T) == typeid(bool))
    143  oss << std::boolalpha << *it << " ";
    144  else
    145  oss << *it << " ";
    146  }
    147  oss << "]";
    148 
    149  ROS_INFO("%s", oss.str().c_str());
    150  return true;
    151  }
    152  else
    153  ROS_ERROR("Failed to receive parameter %s", name.c_str());
    154 }
    155 
    162 double linearRegressionSlope(const std::vector<double>& x, const std::vector<double>& y);
    163 
    167 typedef struct timeEval_s
    168 {
    169  ros::Time rosPrev, rosNew;
    170  ros::WallTime wallPrev, wallNew;
    171  double diff;
    172 
    173  timeEval_s()
    174  {
    175  rosPrev = rosNew = ros::Time::now();
    176  wallPrev = wallNew = ros::WallTime::now();
    177  diff = 0.0;
    178  }
    179 
    185  double updateTime(ros::Time t)
    186  {
    187  rosPrev = rosNew;
    188  rosNew = t;
    189 
    190  diff = (rosNew-rosPrev).toNSec() * 1e-9;
    191 
    192  return diff;
    193  }
    194 
    195  double updateTime(ros::WallTime t)
    196  {
    197  wallPrev = wallNew;
    198  wallNew = t;
    199 
    200  diff = (wallNew-wallPrev).toNSec() * 1e-9;
    201 
    202  return diff;
    203  }
    204 
    205 }TimeEval;
    206 
    207 // end of namespace
    208 }
    209 
    210 #endif // PFUCLT_AUX_H
    pfuclt_aux::calc_stdDev
    double calc_stdDev(const std::vector< T > &vec)
    calc_stdDev - Calculates standard deviation from a vector of type T
    Definition: pfuclt_aux.h:49
    +
    pfuclt_aux::order_index
    std::vector< unsigned int > order_index(std::vector< T > const &values, const ORDER_TYPE order=pfuclt_aux::DESC)
    order_index - Generates a vector of indexes ordered according to another vector
    Definition: pfuclt_aux.h:68
    +
    pfuclt_aux::landmark_s::y
    float y
    Definition: pfuclt_aux.h:33
    +
    pfuclt_aux::DESC
    Definition: pfuclt_aux.h:23
    +
    pfuclt_aux::landmark_s::serial
    int serial
    Definition: pfuclt_aux.h:32
    +
    pfuclt_aux::timeEval_s::updateTime
    double updateTime(ros::WallTime t)
    Definition: pfuclt_aux.h:195
    +
    pfuclt_aux::ORDER_TYPE
    ORDER_TYPE
    The ORDER_TYPE enum - use to define an ascending or descending ordering.
    Definition: pfuclt_aux.h:20
    +
    pfuclt_aux::timeEval_s::wallPrev
    ros::WallTime wallPrev
    Definition: pfuclt_aux.h:170
    +
    pfuclt_aux::timeEval_s::timeEval_s
    timeEval_s()
    Definition: pfuclt_aux.h:173
    +
    pfuclt_aux::landmark_s
    The Landmark struct - used to store a landmark, defined by its serial number, and its position {x...
    Definition: pfuclt_aux.h:30
    +
    pfuclt_aux::timeEval_s::updateTime
    double updateTime(ros::Time t)
    updateTime - adds the newest time available to the struct and returns the time difference ...
    Definition: pfuclt_aux.h:185
    +
    pfuclt_aux::Landmark
    struct pfuclt_aux::landmark_s Landmark
    The Landmark struct - used to store a landmark, defined by its serial number, and its position {x...
    +
    pfuclt_aux::ASC
    Definition: pfuclt_aux.h:22
    +
    pfuclt_aux
    Definition: pfuclt_aux.h:14
    +
    pfuclt_aux::getLandmarks
    std::vector< Landmark > getLandmarks(const char *filename)
    getLandmarks - read landmark configuration from CSV file
    Definition: pfuclt_aux.cpp:7
    +
    pfuclt_aux::landmark_s::x
    float x
    Definition: pfuclt_aux.h:33
    +
    pfuclt_aux::TimeEval
    struct pfuclt_aux::timeEval_s TimeEval
    The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods...
    +
    pfuclt_aux::linearRegressionSlope
    double linearRegressionSlope(const std::vector< double > &x, const std::vector< double > &y)
    linearRegressionSlope - applies linear regression to a set of data and calculates the slope ...
    Definition: pfuclt_aux.cpp:27
    +
    pfuclt_aux::readParam
    bool readParam(ros::NodeHandle &nh, const std::string name, T &variable)
    readParam - reads and returns a parameter from the ROS parameter server
    Definition: pfuclt_aux.h:105
    +
    pfuclt_aux::timeEval_s::rosPrev
    ros::Time rosPrev
    Definition: pfuclt_aux.h:169
    +
    pfuclt_aux::timeEval_s
    The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods...
    Definition: pfuclt_aux.h:167
    +
    pfuclt_aux::timeEval_s::diff
    double diff
    Definition: pfuclt_aux.h:171
    +
    pfuclt_aux.h
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:28 +
    + + diff --git a/doc/html/c++/pfuclt__omni__dataset_8cpp.html b/doc/html/c++/pfuclt__omni__dataset_8cpp.html index 4b27994..3aaed47 100644 --- a/doc/html/c++/pfuclt__omni__dataset_8cpp.html +++ b/doc/html/c++/pfuclt__omni__dataset_8cpp.html @@ -9,6 +9,7 @@ @@ -33,15 +34,18 @@
    pfuclt_omni_dataset.cpp File Reference
    -
    #include <pfuclt_omni_dataset/pfuclt_aux.h>
    -#include <pfuclt_omni_dataset/pfuclt_particles.h>
    -#include <pfuclt_omni_dataset/pfuclt_omni_dataset.h>
    +
    #include <pfuclt_omni_dataset/pfuclt_aux.h>
    +#include <pfuclt_omni_dataset/pfuclt_particles.h>
    +#include <pfuclt_omni_dataset/pfuclt_omni_dataset.h>
    #include <tf2/utils.h>
    Include dependency graph for pfuclt_omni_dataset.cpp:
    + + +
    @@ -78,7 +82,7 @@   float pfuclt::K5   -std::vector< pfuclt_aux::Landmark > pfuclt::landmarks +std::vector< pfuclt_aux::Landmark > pfuclt::landmarks   int pfuclt::MAX_ROBOTS   @@ -161,7 +165,7 @@

    Function Documentation

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
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b/doc/html/c++/pfuclt__omni__dataset_8cpp_source.html @@ -9,6 +9,7 @@

    @@ -28,39 +29,106 @@
    pfuclt_omni_dataset.cpp
    -Go to the documentation of this file.
    1 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    2 #include <pfuclt_omni_dataset/pfuclt_particles.h>
    3 #include <pfuclt_omni_dataset/pfuclt_omni_dataset.h>
    4 #include <tf2/utils.h>
    5 
    6 #define ROS_TDIFF(t) (t.toSec() - timeInit.toSec())
    7 
    8 namespace pfuclt
    9 {
    10 int MY_ID;
    11 int MAX_ROBOTS;
    12 int NUM_ROBOTS; // total number of playing robots in the team including self
    13 int NUM_SENSORS_PER_ROBOT; // SENSORS include odometry, each feature sensor like
    14 // a ball detector, each landmark-set detector and so
    15 // on. In this case for example the number of sensors
    16 // are 3, 1-odometry, 1-orange ball, 1-landmarkset.
    17 // Usually this must co-incide with the number of
    18 // topics to which each robot is publishing its
    19 // sensed information.
    20 int NUM_TARGETS; // Number of targets being tracked. In omni dataset, only one
    21 // target exists for now: the orange ball. This may be improved
    22 // in future by adding the blue ball which can be seen the raw
    23 // footage of the dataset experiment
    24 int NUM_LANDMARKS = 10;
    25 std::vector<bool> PLAYING_ROBOTS; // indicate which robot(s) is(are) playing
    26 
    27 // Empirically obtained coefficients in the covariance expression. See (add
    28 // publications here)
    29 
    30 // coefficients for landmark observation covariance
    31 float K1, K2;
    32 
    33 // coefficients for target observation covariance
    34 float K3, K4, K5;
    35 
    36 float ROB_HT; // Fixed height of the robots above ground in meters
    37 
    38 // Initial 2D positons of the robot as obtained from the overhead ground truth
    39 // system. The order is OMNI1 OMNI2 OMNI3 OMNI4 and OMNI5. Notice OMNI2 is
    40 // initialized as 0,0 because the robot is absent from the dataset.
    41 std::vector<double> POS_INIT;
    42 
    43 int N_DIMENSIONS;
    44 
    45 bool USE_CUSTOM_VALUES = false; // If set to true via the parameter server, the
    46 // custom values will be used
    47 std::vector<double> CUSTOM_PARTICLE_INIT; // Used to set custom values when
    48 // initiating the particle filter set (will still be a uniform distribution)
    49 
    50 bool DEBUG;
    51 bool PUBLISH;
    52 
    53 // for ease of access
    54 std::vector<pfuclt_aux::Landmark> landmarks;
    55 ros::Time timeInit;
    56 
    57 // Method definitions
    58 
    59 RobotFactory::RobotFactory(ros::NodeHandle& nh) : nh_(nh)
    60 {
    61  ParticleFilter::PFinitData initData(nh, MY_ID, NUM_TARGETS, STATES_PER_ROBOT,
    62  MAX_ROBOTS, NUM_LANDMARKS, PLAYING_ROBOTS,
    63  landmarks);
    64 
    65  if (PUBLISH)
    66  pf = boost::shared_ptr<PFPublisher>(
    67  new PFPublisher(initData, PFPublisher::PublishData(ROB_HT)));
    68  else
    69  pf = boost::shared_ptr<ParticleFilter>(new ParticleFilter(initData));
    70 
    71  timeInit = ros::Time::now();
    72  ROS_INFO("Init time set to %f", timeInit.toSec());
    73 
    74  for (uint rn = 0; rn < MAX_ROBOTS; rn++)
    75  {
    76  if (PLAYING_ROBOTS[rn])
    77  {
    78  robots_.push_back(
    79  Robot_ptr(new Robot(nh_, this, pf->getPFReference(), rn)));
    80  }
    81  }
    82 }
    83 
    84 void RobotFactory::tryInitializeParticles()
    85 {
    86  if (!areAllRobotsActive())
    87  return;
    88 
    89  pf->init(CUSTOM_PARTICLE_INIT, POS_INIT);
    90 }
    91 
    92 void RobotFactory::initializeFixedLandmarks()
    93 {
    94  std::string filename;
    95  using namespace pfuclt_aux;
    96 
    97  // get the filename from parameter server
    98  if (!readParam<std::string>(nh_, "/LANDMARKS_CONFIG", filename))
    99  return;
    100 
    101  // parse the file and copy to vector of Landmarks
    102  landmarks = getLandmarks(filename.c_str());
    103  ROS_ERROR_COND(landmarks.empty(), "Couldn't open file \"%s\"",
    104  filename.c_str());
    105 
    106  ROS_ERROR_COND(landmarks.size() != NUM_LANDMARKS,
    107  "Read a number of landmarks different from the specified in "
    108  "NUM_LANDMARKS");
    109 
    110  // iterate over the vector and print information
    111  for (std::vector<Landmark>::iterator it = landmarks.begin();
    112  it != landmarks.end(); ++it)
    113  {
    114  ROS_INFO("A fixed landmark with ID %d at position {x=%.2f, y=%.2f} \twas "
    115  "created",
    116  it->serial, it->x, it->y);
    117  }
    118 }
    119 
    120 bool RobotFactory::areAllRobotsActive()
    121 {
    122  for (std::vector<Robot_ptr>::iterator it = robots_.begin();
    123  it != robots_.end(); ++it)
    124  {
    125  if (false == (*it)->hasStarted())
    126  return false;
    127  }
    128  return true;
    129 }
    130 
    131 void Robot::startNow()
    132 {
    133  timeStarted_ = ros::Time::now();
    134  started_ = true;
    135  ROS_INFO("OMNI%d has started %.2fs after the initial time", robotNumber_ + 1,
    136  ROS_TDIFF(timeStarted_));
    137 }
    138 
    139 Robot::Robot(ros::NodeHandle& nh, RobotFactory* parent, ParticleFilter* pf,
    140  uint robotNumber)
    141  : parent_(parent), pf_(pf), started_(false), robotNumber_(robotNumber)
    142 {
    143  std::string robotNamespace("/omni" +
    144  boost::lexical_cast<std::string>(robotNumber + 1));
    145 
    146  // Subscribe to topics
    147  sOdom_ = nh.subscribe<nav_msgs::Odometry>(
    148  robotNamespace + "/odometry", 10,
    149  boost::bind(&Robot::odometryCallback, this, _1));
    150 
    151  sBall_ = nh.subscribe<read_omni_dataset::BallData>(
    152  robotNamespace + "/orangeball3Dposition", 10,
    153  boost::bind(&Robot::targetCallback, this, _1));
    154 
    155  sLandmark_ = nh.subscribe<read_omni_dataset::LRMLandmarksData>(
    156  robotNamespace + "/landmarkspositions", 10,
    157  boost::bind(&Robot::landmarkDataCallback, this, _1));
    158 
    159  ROS_INFO("Created robot OMNI%d", robotNumber + 1);
    160 }
    161 
    162 void Robot::odometryCallback(const nav_msgs::Odometry::ConstPtr& odometry)
    163 {
    164  if (!started_)
    165  startNow();
    166 
    167  if (!pf_->isInitialized())
    168  parent_->tryInitializeParticles();
    169 
    170  pfuclt_ptcls::Odometry odomStruct;
    171  odomStruct.x = odometry->pose.pose.position.x;
    172  odomStruct.y = odometry->pose.pose.position.y;
    173  odomStruct.theta = tf2::getYaw(odometry->pose.pose.orientation);
    174 
    175  // ROS_DEBUG("OMNI%d odometry at time %d = {%f;%f;%f}", robotNumber_ + 1,
    176  // odometry->header.stamp.sec, odomStruct.x, odomStruct.y,
    177  // odomStruct.theta);
    178 
    179  // Call the particle filter predict step for this robot
    180  pf_->predict(robotNumber_, odomStruct, odometry->header.stamp);
    181 }
    182 
    183 void Robot::targetCallback(const read_omni_dataset::BallData::ConstPtr& target)
    184 {
    185  if (!started_)
    186  startNow();
    187 
    188  // If needed, modify here to if(true) to go over the target occlusion from the dataset
    189  if (target->found)
    190  {
    191  // ROS_DEBUG("OMNI%d ball data at time %d", robotNumber_ + 1,
    192  // target->header.stamp.sec);
    193 
    194  pfuclt_ptcls::TargetObservation obs;
    195 
    196  obs.found = true;
    197  obs.x = target->x;
    198  obs.y = target->y;
    199  obs.z = target->z;
    200  obs.d = Eigen::Vector2d(obs.x, obs.y).norm();
    201  obs.r = Eigen::Vector3d(obs.x, obs.y, obs.z).norm();
    202  obs.phi = atan2(target->y, target->x);
    203 
    204  // Auxiliary
    205  const double cos2p = pow(cos(obs.phi), 2);
    206  const double sin2p = pow(sin(obs.phi), 2);
    207  const double d2 = pow(obs.d, 2);
    208  const double r2 = pow(obs.r, 2);
    209 
    210  // 3D Model
    211  static const float ballRadius = 0.1;
    212  static const float ballr2 = pow(ballRadius, 2);
    213  obs.covDD = K3 * (r2 * sin2p / (2 * ballr2)) +
    214  K4 * (r2 * sin2p / (2 * (r2 - ballr2))) +
    215  K3 * K4 * (r2 * cos2p / (4 * ballr2 * (r2 - ballr2)));
    216  obs.covPP = K5 / (r2 - ballr2 * sin2p);
    217 
    218  // 2D Model
    219  // obs.covDD = (double)(1 / target->mismatchFactor) *
    220  // (K3 * obs.d + K4 * (obs.d * obs.d));
    221 
    222  // obs.covPP = K5 * (1 / (obs.d + 1));
    223 
    224  obs.covXX =
    225  cos2p * obs.covDD + sin2p * (d2 * obs.covPP + obs.covDD * obs.covPP);
    226  obs.covYY =
    227  sin2p * obs.covDD + cos2p * (d2 * obs.covPP + obs.covDD * obs.covPP);
    228 
    229  // Save this observation
    230  pf_->saveTargetObservation(robotNumber_, obs, target->header.stamp);
    231  }
    232  else
    233  {
    234  // ROS_DEBUG("OMNI%d didn't find the ball at time %d", robotNumber_ + 1,
    235  // target->header.stamp.sec);
    236 
    237  pf_->saveTargetObservation(robotNumber_, false);
    238  }
    239 
    240  pf_->saveAllTargetMeasurementsDone(robotNumber_);
    241 
    242  // If this is the "self robot", update the iteration time
    243  if (MY_ID == robotNumber_ + 1)
    244  pf_->updateTargetIterationTime(target->header.stamp);
    245 }
    246 
    247 void Robot::landmarkDataCallback(
    248  const read_omni_dataset::LRMLandmarksData::ConstPtr& landmarkData)
    249 {
    250  // ROS_DEBUG("OMNI%d landmark data at time %d", robotNumber_ + 1,
    251  // landmarkData->header.stamp.sec);
    252 
    253  bool heuristicsFound[NUM_LANDMARKS];
    254  for (int i = 0; i < NUM_LANDMARKS; i++)
    255  heuristicsFound[i] = landmarkData->found[i];
    256 
    257  float distances[NUM_LANDMARKS];
    258 
    259  // d = sqrt(x^2+y^2)
    260  for (int i = 0; i < NUM_LANDMARKS; i++)
    261  {
    262  distances[i] =
    263  pow((pow(landmarkData->x[i], 2) + pow(landmarkData->y[i], 2)), 0.5);
    264  }
    265 
    266  // Define heuristics if using custom values
    267  if (USE_CUSTOM_VALUES)
    268  {
    269  // Huristic 1. If I see only 8 and not 9.... then I cannot see 7
    270  if (landmarkData->found[8] && !landmarkData->found[9])
    271  heuristicsFound[7] = false;
    272 
    273  // Huristic 2. If I see only 9 and not 8.... then I cannot see 6
    274  if (!landmarkData->found[8] && landmarkData->found[9])
    275  heuristicsFound[6] = false;
    276 
    277  // Huristic 3. If I see both 8 and 9.... then there are 2 subcases
    278  if (landmarkData->found[8] && landmarkData->found[9])
    279  {
    280  // Huristic 3.1. If I am closer to 9.... then I cannot see 6
    281  if (distances[9] < distances[8])
    282  heuristicsFound[6] = false;
    283 
    284  // Huristic 3.2 If I am closer to 8.... then I cannot see 7
    285  if (distances[8] < distances[9])
    286  heuristicsFound[7] = false;
    287  }
    288 
    289  float heuristicsThresh[] = HEURISTICS_THRESH_DEFAULT;
    290 
    291  if (robotNumber_ == 0)
    292  {
    293  heuristicsThresh[4] = 6.5;
    294  heuristicsThresh[5] = 6.5;
    295  heuristicsThresh[8] = 6.5;
    296  heuristicsThresh[9] = 6.5;
    297  }
    298 
    299  else if (robotNumber_ == 2)
    300  {
    301  heuristicsThresh[4] = 6.5;
    302  heuristicsThresh[5] = 6.5;
    303  heuristicsThresh[8] = 6.5;
    304  heuristicsThresh[9] = 6.5;
    305  }
    306 
    307  else if (robotNumber_ == 3)
    308  {
    309  heuristicsThresh[4] = 6.5;
    310  heuristicsThresh[5] = 6.5;
    311  heuristicsThresh[8] = 6.5;
    312  heuristicsThresh[9] = 6.5;
    313  }
    314 
    315  else if (robotNumber_ == 4)
    316  {
    317  heuristicsThresh[4] = 3.5;
    318  heuristicsThresh[5] = 3.5;
    319  heuristicsThresh[8] = 3.5;
    320  heuristicsThresh[9] = 3.5;
    321  }
    322 
    323  // Set landmark as not found if distance to it is above a certain threshold
    324  for (int i = 0; i < NUM_LANDMARKS; i++)
    325  {
    326  if (distances[i] > heuristicsThresh[i])
    327  heuristicsFound[i] = false;
    328  }
    329  }
    330 
    331  // End of heuristics, below uses the array but just for convenience
    332 
    333  for (int i = 0; i < NUM_LANDMARKS; i++)
    334  {
    335 
    336  if (false == heuristicsFound[i])
    337  pf_->saveLandmarkObservation(robotNumber_, i, false);
    338 
    339  else
    340  {
    341  pfuclt_ptcls::LandmarkObservation obs;
    342  obs.found = true;
    343  obs.x = landmarkData->x[i];
    344  obs.y = landmarkData->y[i];
    345  obs.d = sqrt(obs.x * obs.x + obs.y * obs.y);
    346 
    347  // If needed, this hack goes over the dataset threshold distance
    348 // if (obs.d > 2.0)
    349 // {
    350 // pf_->saveLandmarkObservation(robotNumber_, i, false);
    351 // continue;
    352 // }
    353 
    354  obs.phi = atan2(obs.y, obs.x);
    355  obs.covDD =
    356  (K1 * fabs(1.0 - (landmarkData->AreaLandMarkActualinPixels[i] /
    357  landmarkData->AreaLandMarkExpectedinPixels[i]))) *
    358  (obs.d * obs.d);
    359  obs.covPP = NUM_LANDMARKS * K2 * (1 / (obs.d + 1));
    360  obs.covXX = pow(cos(obs.phi), 2) * obs.covDD +
    361  pow(sin(obs.phi), 2) *
    362  (pow(obs.d, 2) * obs.covPP + obs.covDD * obs.covPP);
    363  obs.covYY = pow(sin(obs.phi), 2) * obs.covDD +
    364  pow(cos(obs.phi), 2) *
    365  (pow(obs.d, 2) * obs.covPP + obs.covDD * obs.covPP);
    366 
    367  pf_->saveLandmarkObservation(robotNumber_, i, obs,
    368  landmarkData->header.stamp);
    369  }
    370  }
    371 
    372  pf_->saveAllLandmarkMeasurementsDone(robotNumber_);
    373 }
    374 
    375 // end of namespace
    376 }
    377 
    378 int main(int argc, char* argv[])
    379 {
    380 
    381  ros::init(argc, argv, "pfuclt_omni_dataset");
    382  ros::NodeHandle nh("~");
    383 
    384  using namespace pfuclt;
    385 
    386  // Parse input parameters
    387  // TODO Consider using a library for this
    388  if (argc > 2)
    389  {
    390  if (!strcmp(argv[2], "true"))
    391  {
    392  if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
    393  ros::console::levels::Debug))
    394  {
    395  ros::console::notifyLoggerLevelsChanged();
    396  }
    397 
    398  ROS_DEBUG("DEBUG mode set");
    399  DEBUG = true;
    400  }
    401  else
    402  DEBUG = false;
    403  }
    404  else
    405  DEBUG = false;
    406 
    407  if (argc > 4)
    408  {
    409  if (!strcmp(argv[4], "true"))
    410  {
    411  PUBLISH = true;
    412  ROS_INFO("Publish = true");
    413  }
    414  else
    415  PUBLISH = false;
    416  }
    417  else
    418  PUBLISH = false;
    419 
    420  // read parameters from param server
    421  using pfuclt_aux::readParam;
    422 
    423  readParam<int>(nh, "/MAX_ROBOTS", MAX_ROBOTS);
    424  readParam<float>(nh, "/ROB_HT", ROB_HT);
    425  readParam<int>(nh, "/NUM_TARGETS", NUM_TARGETS);
    426  readParam<int>(nh, "/NUM_LANDMARKS", NUM_LANDMARKS);
    427  readParam<float>(nh, "/LANDMARK_COV/K1", K1);
    428  readParam<float>(nh, "/LANDMARK_COV/K2", K2);
    429  readParam<float>(nh, "/LANDMARK_COV/K3", K3);
    430  readParam<float>(nh, "/LANDMARK_COV/K4", K4);
    431  readParam<float>(nh, "/LANDMARK_COV/K5", K5);
    432  readParam<bool>(nh, "/PLAYING_ROBOTS", PLAYING_ROBOTS);
    433  readParam<double>(nh, "/POS_INIT", POS_INIT);
    434  readParam<bool>(nh, "/USE_CUSTOM_VALUES", USE_CUSTOM_VALUES);
    435  readParam<int>(nh, "/MY_ID", MY_ID);
    436 
    437  uint total_size =
    438  MAX_ROBOTS * STATES_PER_ROBOT + NUM_TARGETS * STATES_PER_TARGET;
    439 
    440  readParam<double>(nh, "/CUSTOM_PARTICLE_INIT", CUSTOM_PARTICLE_INIT);
    441  if (CUSTOM_PARTICLE_INIT.size() != (total_size * 2))
    442  {
    443  ROS_ERROR("/CUSTOM_PARTICLE_INIT given but not of correct size - should "
    444  "have %d numbers and has %d",
    445  total_size * 2, (int)CUSTOM_PARTICLE_INIT.size());
    446  }
    447 
    448  ROS_INFO("Waiting for /clock");
    449  while (ros::Time::now().toSec() == 0)
    450  ;
    451  ROS_INFO("/clock message received");
    452 
    453  pfuclt::RobotFactory Factory(nh);
    454 
    455  if (USE_CUSTOM_VALUES && PLAYING_ROBOTS[1])
    456  {
    457  ROS_WARN("OMNI2 not present in dataset.");
    458  return 0;
    459  }
    460 
    461  Factory.initializeFixedLandmarks();
    462 
    463  ros::spin();
    464  return 0;
    465 }
    main
    int main(int argc, char *argv[])
    Definition: pfuclt_omni_dataset.cpp:378
    +Go to the documentation of this file.
    1 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    2 #include <pfuclt_omni_dataset/pfuclt_particles.h>
    3 #include <pfuclt_omni_dataset/pfuclt_omni_dataset.h>
    4 #include <tf2/utils.h>
    5 
    6 #define ROS_TDIFF(t) (t.toSec() - timeInit.toSec())
    7 
    8 namespace pfuclt
    9 {
    10 int MY_ID;
    11 int MAX_ROBOTS;
    12 int NUM_ROBOTS; // total number of playing robots in the team including self
    13 int NUM_SENSORS_PER_ROBOT; // SENSORS include odometry, each feature sensor like
    14 // a ball detector, each landmark-set detector and so
    15 // on. In this case for example the number of sensors
    16 // are 3, 1-odometry, 1-orange ball, 1-landmarkset.
    17 // Usually this must co-incide with the number of
    18 // topics to which each robot is publishing its
    19 // sensed information.
    20 int NUM_TARGETS; // Number of targets being tracked. In omni dataset, only one
    21 // target exists for now: the orange ball. This may be improved
    22 // in future by adding the blue ball which can be seen the raw
    23 // footage of the dataset experiment
    24 int NUM_LANDMARKS = 10;
    25 std::vector<bool> PLAYING_ROBOTS; // indicate which robot(s) is(are) playing
    26 
    27 // Empirically obtained coefficients in the covariance expression. See (add
    28 // publications here)
    29 
    30 // coefficients for landmark observation covariance
    31 float K1, K2;
    32 
    33 // coefficients for target observation covariance
    34 float K3, K4, K5;
    35 
    36 float ROB_HT; // Fixed height of the robots above ground in meters
    37 
    38 // Initial 2D positons of the robot as obtained from the overhead ground truth
    39 // system. The order is OMNI1 OMNI2 OMNI3 OMNI4 and OMNI5. Notice OMNI2 is
    40 // initialized as 0,0 because the robot is absent from the dataset.
    41 std::vector<double> POS_INIT;
    42 
    43 int N_DIMENSIONS;
    44 
    45 bool USE_CUSTOM_VALUES = false; // If set to true via the parameter server, the
    46 // custom values will be used
    47 std::vector<double> CUSTOM_PARTICLE_INIT; // Used to set custom values when
    48 // initiating the particle filter set (will still be a uniform distribution)
    49 
    50 bool DEBUG;
    51 bool PUBLISH;
    52 
    53 // for ease of access
    54 std::vector<pfuclt_aux::Landmark> landmarks;
    55 ros::Time timeInit;
    56 
    57 // Method definitions
    58 
    59 RobotFactory::RobotFactory(ros::NodeHandle& nh) : nh_(nh)
    60 {
    61  ParticleFilter::PFinitData initData(nh, MY_ID, NUM_TARGETS, STATES_PER_ROBOT,
    62  MAX_ROBOTS, NUM_LANDMARKS, PLAYING_ROBOTS,
    63  landmarks);
    64 
    65  if (PUBLISH)
    66  pf = boost::shared_ptr<PFPublisher>(
    67  new PFPublisher(initData, PFPublisher::PublishData(ROB_HT)));
    68  else
    69  pf = boost::shared_ptr<ParticleFilter>(new ParticleFilter(initData));
    70 
    71  timeInit = ros::Time::now();
    72  ROS_INFO("Init time set to %f", timeInit.toSec());
    73 
    74  for (uint rn = 0; rn < MAX_ROBOTS; rn++)
    75  {
    76  if (PLAYING_ROBOTS[rn])
    77  {
    78  robots_.push_back(
    79  Robot_ptr(new Robot(nh_, this, pf->getPFReference(), rn)));
    80  }
    81  }
    82 }
    83 
    84 void RobotFactory::tryInitializeParticles()
    85 {
    86  if (!areAllRobotsActive())
    87  return;
    88 
    89  pf->init(CUSTOM_PARTICLE_INIT, POS_INIT);
    90 }
    91 
    92 void RobotFactory::initializeFixedLandmarks()
    93 {
    94  std::string filename;
    95  using namespace pfuclt_aux;
    96 
    97  // get the filename from parameter server
    98  if (!readParam<std::string>(nh_, "/LANDMARKS_CONFIG", filename))
    99  return;
    100 
    101  // parse the file and copy to vector of Landmarks
    102  landmarks = getLandmarks(filename.c_str());
    103  ROS_ERROR_COND(landmarks.empty(), "Couldn't open file \"%s\"",
    104  filename.c_str());
    105 
    106  ROS_ERROR_COND(landmarks.size() != NUM_LANDMARKS,
    107  "Read a number of landmarks different from the specified in "
    108  "NUM_LANDMARKS");
    109 
    110  // iterate over the vector and print information
    111  for (std::vector<Landmark>::iterator it = landmarks.begin();
    112  it != landmarks.end(); ++it)
    113  {
    114  ROS_INFO("A fixed landmark with ID %d at position {x=%.2f, y=%.2f} \twas "
    115  "created",
    116  it->serial, it->x, it->y);
    117  }
    118 }
    119 
    120 bool RobotFactory::areAllRobotsActive()
    121 {
    122  for (std::vector<Robot_ptr>::iterator it = robots_.begin();
    123  it != robots_.end(); ++it)
    124  {
    125  if (false == (*it)->hasStarted())
    126  return false;
    127  }
    128  return true;
    129 }
    130 
    131 void Robot::startNow()
    132 {
    133  timeStarted_ = ros::Time::now();
    134  started_ = true;
    135  ROS_INFO("OMNI%d has started %.2fs after the initial time", robotNumber_ + 1,
    136  ROS_TDIFF(timeStarted_));
    137 }
    138 
    139 Robot::Robot(ros::NodeHandle& nh, RobotFactory* parent, ParticleFilter* pf,
    140  uint robotNumber)
    141  : parent_(parent), pf_(pf), started_(false), robotNumber_(robotNumber)
    142 {
    143  std::string robotNamespace("/omni" +
    144  boost::lexical_cast<std::string>(robotNumber + 1));
    145 
    146  // Subscribe to topics
    147  sOdom_ = nh.subscribe<nav_msgs::Odometry>(
    148  robotNamespace + "/odometry", 10,
    149  boost::bind(&Robot::odometryCallback, this, _1));
    150 
    151  sBall_ = nh.subscribe<read_omni_dataset::BallData>(
    152  robotNamespace + "/orangeball3Dposition", 10,
    153  boost::bind(&Robot::targetCallback, this, _1));
    154 
    155  sLandmark_ = nh.subscribe<read_omni_dataset::LRMLandmarksData>(
    156  robotNamespace + "/landmarkspositions", 10,
    157  boost::bind(&Robot::landmarkDataCallback, this, _1));
    158 
    159  ROS_INFO("Created robot OMNI%d", robotNumber + 1);
    160 }
    161 
    162 void Robot::odometryCallback(const nav_msgs::Odometry::ConstPtr& odometry)
    163 {
    164  if (!started_)
    165  startNow();
    166 
    167  if (!pf_->isInitialized())
    168  parent_->tryInitializeParticles();
    169 
    170  pfuclt_ptcls::Odometry odomStruct;
    171  odomStruct.x = odometry->pose.pose.position.x;
    172  odomStruct.y = odometry->pose.pose.position.y;
    173  odomStruct.theta = tf2::getYaw(odometry->pose.pose.orientation);
    174 
    175  // ROS_DEBUG("OMNI%d odometry at time %d = {%f;%f;%f}", robotNumber_ + 1,
    176  // odometry->header.stamp.sec, odomStruct.x, odomStruct.y,
    177  // odomStruct.theta);
    178 
    179  // Call the particle filter predict step for this robot
    180  pf_->predict(robotNumber_, odomStruct, odometry->header.stamp);
    181 }
    182 
    183 void Robot::targetCallback(const read_omni_dataset::BallData::ConstPtr& target)
    184 {
    185  if (!started_)
    186  startNow();
    187 
    188  // If needed, modify here to if(true) to go over the target occlusion from the dataset
    189  if (target->found)
    190  {
    191  // ROS_DEBUG("OMNI%d ball data at time %d", robotNumber_ + 1,
    192  // target->header.stamp.sec);
    193 
    194  pfuclt_ptcls::TargetObservation obs;
    195 
    196  obs.found = true;
    197  obs.x = target->x;
    198  obs.y = target->y;
    199  obs.z = target->z;
    200  obs.d = Eigen::Vector2d(obs.x, obs.y).norm();
    201  obs.r = Eigen::Vector3d(obs.x, obs.y, obs.z).norm();
    202  obs.phi = atan2(target->y, target->x);
    203 
    204  // Auxiliary
    205  const double cos2p = pow(cos(obs.phi), 2);
    206  const double sin2p = pow(sin(obs.phi), 2);
    207  const double d2 = pow(obs.d, 2);
    208  const double r2 = pow(obs.r, 2);
    209 
    210  // 3D Model
    211  static const float ballRadius = 0.1;
    212  static const float ballr2 = pow(ballRadius, 2);
    213  obs.covDD = K3 * (r2 * sin2p / (2 * ballr2)) +
    214  K4 * (r2 * sin2p / (2 * (r2 - ballr2))) +
    215  K3 * K4 * (r2 * cos2p / (4 * ballr2 * (r2 - ballr2)));
    216  obs.covPP = K5 / (r2 - ballr2 * sin2p);
    217 
    218  // 2D Model
    219  // obs.covDD = (double)(1 / target->mismatchFactor) *
    220  // (K3 * obs.d + K4 * (obs.d * obs.d));
    221 
    222  // obs.covPP = K5 * (1 / (obs.d + 1));
    223 
    224  obs.covXX =
    225  cos2p * obs.covDD + sin2p * (d2 * obs.covPP + obs.covDD * obs.covPP);
    226  obs.covYY =
    227  sin2p * obs.covDD + cos2p * (d2 * obs.covPP + obs.covDD * obs.covPP);
    228 
    229  // Save this observation
    230  pf_->saveTargetObservation(robotNumber_, obs, target->header.stamp);
    231  }
    232  else
    233  {
    234  // ROS_DEBUG("OMNI%d didn't find the ball at time %d", robotNumber_ + 1,
    235  // target->header.stamp.sec);
    236 
    237  pf_->saveTargetObservation(robotNumber_, false);
    238  }
    239 
    240  pf_->saveAllTargetMeasurementsDone(robotNumber_);
    241 
    242  // If this is the "self robot", update the iteration time
    243  if (MY_ID == robotNumber_ + 1)
    244  pf_->updateTargetIterationTime(target->header.stamp);
    245 }
    246 
    247 void Robot::landmarkDataCallback(
    248  const read_omni_dataset::LRMLandmarksData::ConstPtr& landmarkData)
    249 {
    250  // ROS_DEBUG("OMNI%d landmark data at time %d", robotNumber_ + 1,
    251  // landmarkData->header.stamp.sec);
    252 
    253  bool heuristicsFound[NUM_LANDMARKS];
    254  for (int i = 0; i < NUM_LANDMARKS; i++)
    255  heuristicsFound[i] = landmarkData->found[i];
    256 
    257  float distances[NUM_LANDMARKS];
    258 
    259  // d = sqrt(x^2+y^2)
    260  for (int i = 0; i < NUM_LANDMARKS; i++)
    261  {
    262  distances[i] =
    263  pow((pow(landmarkData->x[i], 2) + pow(landmarkData->y[i], 2)), 0.5);
    264  }
    265 
    266  // Define heuristics if using custom values
    267  if (USE_CUSTOM_VALUES)
    268  {
    269  // Huristic 1. If I see only 8 and not 9.... then I cannot see 7
    270  if (landmarkData->found[8] && !landmarkData->found[9])
    271  heuristicsFound[7] = false;
    272 
    273  // Huristic 2. If I see only 9 and not 8.... then I cannot see 6
    274  if (!landmarkData->found[8] && landmarkData->found[9])
    275  heuristicsFound[6] = false;
    276 
    277  // Huristic 3. If I see both 8 and 9.... then there are 2 subcases
    278  if (landmarkData->found[8] && landmarkData->found[9])
    279  {
    280  // Huristic 3.1. If I am closer to 9.... then I cannot see 6
    281  if (distances[9] < distances[8])
    282  heuristicsFound[6] = false;
    283 
    284  // Huristic 3.2 If I am closer to 8.... then I cannot see 7
    285  if (distances[8] < distances[9])
    286  heuristicsFound[7] = false;
    287  }
    288 
    289  float heuristicsThresh[] = HEURISTICS_THRESH_DEFAULT;
    290 
    291  if (robotNumber_ == 0)
    292  {
    293  heuristicsThresh[4] = 6.5;
    294  heuristicsThresh[5] = 6.5;
    295  heuristicsThresh[8] = 6.5;
    296  heuristicsThresh[9] = 6.5;
    297  }
    298 
    299  else if (robotNumber_ == 2)
    300  {
    301  heuristicsThresh[4] = 6.5;
    302  heuristicsThresh[5] = 6.5;
    303  heuristicsThresh[8] = 6.5;
    304  heuristicsThresh[9] = 6.5;
    305  }
    306 
    307  else if (robotNumber_ == 3)
    308  {
    309  heuristicsThresh[4] = 6.5;
    310  heuristicsThresh[5] = 6.5;
    311  heuristicsThresh[8] = 6.5;
    312  heuristicsThresh[9] = 6.5;
    313  }
    314 
    315  else if (robotNumber_ == 4)
    316  {
    317  heuristicsThresh[4] = 3.5;
    318  heuristicsThresh[5] = 3.5;
    319  heuristicsThresh[8] = 3.5;
    320  heuristicsThresh[9] = 3.5;
    321  }
    322 
    323  // Set landmark as not found if distance to it is above a certain threshold
    324  for (int i = 0; i < NUM_LANDMARKS; i++)
    325  {
    326  if (distances[i] > heuristicsThresh[i])
    327  heuristicsFound[i] = false;
    328  }
    329  }
    330 
    331  // End of heuristics, below uses the array but just for convenience
    332 
    333  for (int i = 0; i < NUM_LANDMARKS; i++)
    334  {
    335 
    336  if (false == heuristicsFound[i])
    337  pf_->saveLandmarkObservation(robotNumber_, i, false);
    338 
    339  else
    340  {
    341  pfuclt_ptcls::LandmarkObservation obs;
    342  obs.found = true;
    343  obs.x = landmarkData->x[i];
    344  obs.y = landmarkData->y[i];
    345  obs.d = sqrt(obs.x * obs.x + obs.y * obs.y);
    346 
    347  // If needed, this hack goes over the dataset threshold distance
    348 // if (obs.d > 2.0)
    349 // {
    350 // pf_->saveLandmarkObservation(robotNumber_, i, false);
    351 // continue;
    352 // }
    353 
    354  obs.phi = atan2(obs.y, obs.x);
    355  obs.covDD =
    356  (K1 * fabs(1.0 - (landmarkData->AreaLandMarkActualinPixels[i] /
    357  landmarkData->AreaLandMarkExpectedinPixels[i]))) *
    358  (obs.d * obs.d);
    359  obs.covPP = NUM_LANDMARKS * K2 * (1 / (obs.d + 1));
    360  obs.covXX = pow(cos(obs.phi), 2) * obs.covDD +
    361  pow(sin(obs.phi), 2) *
    362  (pow(obs.d, 2) * obs.covPP + obs.covDD * obs.covPP);
    363  obs.covYY = pow(sin(obs.phi), 2) * obs.covDD +
    364  pow(cos(obs.phi), 2) *
    365  (pow(obs.d, 2) * obs.covPP + obs.covDD * obs.covPP);
    366 
    367  pf_->saveLandmarkObservation(robotNumber_, i, obs,
    368  landmarkData->header.stamp);
    369  }
    370  }
    371 
    372  pf_->saveAllLandmarkMeasurementsDone(robotNumber_);
    373 }
    374 
    375 // end of namespace
    376 }
    377 
    378 int main(int argc, char* argv[])
    379 {
    380 
    381  ros::init(argc, argv, "pfuclt_omni_dataset");
    382  ros::NodeHandle nh("~");
    383 
    384  using namespace pfuclt;
    385 
    386  // Parse input parameters
    387  // TODO Consider using a library for this
    388  if (argc > 2)
    389  {
    390  if (!strcmp(argv[2], "true"))
    391  {
    392  if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
    393  ros::console::levels::Debug))
    394  {
    395  ros::console::notifyLoggerLevelsChanged();
    396  }
    397 
    398  ROS_DEBUG("DEBUG mode set");
    399  DEBUG = true;
    400  }
    401  else
    402  DEBUG = false;
    403  }
    404  else
    405  DEBUG = false;
    406 
    407  if (argc > 4)
    408  {
    409  if (!strcmp(argv[4], "true"))
    410  {
    411  PUBLISH = true;
    412  ROS_INFO("Publish = true");
    413  }
    414  else
    415  PUBLISH = false;
    416  }
    417  else
    418  PUBLISH = false;
    419 
    420  // read parameters from param server
    421  using pfuclt_aux::readParam;
    422 
    423  readParam<int>(nh, "/MAX_ROBOTS", MAX_ROBOTS);
    424  readParam<float>(nh, "/ROB_HT", ROB_HT);
    425  readParam<int>(nh, "/NUM_TARGETS", NUM_TARGETS);
    426  readParam<int>(nh, "/NUM_LANDMARKS", NUM_LANDMARKS);
    427  readParam<float>(nh, "/LANDMARK_COV/K1", K1);
    428  readParam<float>(nh, "/LANDMARK_COV/K2", K2);
    429  readParam<float>(nh, "/LANDMARK_COV/K3", K3);
    430  readParam<float>(nh, "/LANDMARK_COV/K4", K4);
    431  readParam<float>(nh, "/LANDMARK_COV/K5", K5);
    432  readParam<bool>(nh, "/PLAYING_ROBOTS", PLAYING_ROBOTS);
    433  readParam<double>(nh, "/POS_INIT", POS_INIT);
    434  readParam<bool>(nh, "/USE_CUSTOM_VALUES", USE_CUSTOM_VALUES);
    435  readParam<int>(nh, "/MY_ID", MY_ID);
    436 
    437  uint total_size =
    438  MAX_ROBOTS * STATES_PER_ROBOT + NUM_TARGETS * STATES_PER_TARGET;
    439 
    440  readParam<double>(nh, "/CUSTOM_PARTICLE_INIT", CUSTOM_PARTICLE_INIT);
    441  if (CUSTOM_PARTICLE_INIT.size() != (total_size * 2))
    442  {
    443  ROS_ERROR("/CUSTOM_PARTICLE_INIT given but not of correct size - should "
    444  "have %d numbers and has %d",
    445  total_size * 2, (int)CUSTOM_PARTICLE_INIT.size());
    446  }
    447 
    448  ROS_INFO("Waiting for /clock");
    449  while (ros::Time::now().toSec() == 0)
    450  ;
    451  ROS_INFO("/clock message received");
    452 
    453  pfuclt::RobotFactory Factory(nh);
    454 
    455  if (USE_CUSTOM_VALUES && PLAYING_ROBOTS[1])
    456  {
    457  ROS_WARN("OMNI2 not present in dataset.");
    458  return 0;
    459  }
    460 
    461  Factory.initializeFixedLandmarks();
    462 
    463  ros::spin();
    464  return 0;
    465 }
    main
    int main(int argc, char *argv[])
    Definition: pfuclt_omni_dataset.cpp:378
    +
    pfuclt_particles.h
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    #define HEURISTICS_THRESH_DEFAULT
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    double covXX
    Definition: pfuclt_particles.h:84
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    saveLandmarkObservation - saves the landmark observation to a buffer of observations ...
    Definition: pfuclt_particles.h:476
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    Robot - constructor, creates a new Robot instance.
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    Definition: pfuclt_omni_dataset.h:52
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    Definition: pfuclt_omni_dataset.cpp:45
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    Definition: pfuclt_omni_dataset.cpp:84
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    Definition: pfuclt_particles.h:75
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    Definition: pfuclt_omni_dataset.cpp:54
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    landmarkDataCallback - event-driven function which should be called when new landmark data is receive...
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    isInitialized - simple interface to access private member initialized_
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    Definition: pfuclt_omni_dataset.cpp:120
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    Definition: pfuclt_omni_dataset.cpp:47
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    odometryCallback - event-driven function which should be called when new odometry data is received ...
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    Definition: pfuclt_particles.h:65
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    updateTargetIterationTime - the main robot should call this method after the target callback ...
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    Definition: pfuclt_omni_dataset.h:86
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    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:28
    diff --git a/doc/html/c++/pfuclt__omni__dataset_8h.html b/doc/html/c++/pfuclt__omni__dataset_8h.html new file mode 100644 index 0000000..a55fc79 --- /dev/null +++ b/doc/html/c++/pfuclt__omni__dataset_8h.html @@ -0,0 +1,153 @@ + +pfuclt_omni_dataset: pfuclt_omni_dataset.h File Reference + + + + + + + + +
    +
    +
    +Classes | +Namespaces | +Macros | +Typedefs
    +
    +
    pfuclt_omni_dataset.h File Reference
    +
    +
    +
    #include <vector>
    +#include <algorithm>
    +#include <cstdio>
    +#include <fstream>
    +#include <string>
    +#include <ros/ros.h>
    +#include <nav_msgs/Odometry.h>
    +#include <read_omni_dataset/BallData.h>
    +#include <read_omni_dataset/LRMLandmarksData.h>
    +#include <Eigen/Core>
    +#include <Eigen/Geometry>
    +#include <boost/bind.hpp>
    +#include <boost/ref.hpp>
    +#include <boost/shared_ptr.hpp>
    +#include <pfuclt_omni_dataset/pfuclt_aux.h>
    +#include <pfuclt_omni_dataset/pfuclt_particles.h>
    +
    +Include dependency graph for pfuclt_omni_dataset.h:
    +
    +
    + + + + +
    +
    +This graph shows which files directly or indirectly include this file:
    +
    +
    + + + +
    +
    +

    Go to the source code of this file.

    + + + + + + + + +

    +Classes

    class  pfuclt::Robot
     The Robot class - Has the common variables and methods of all robots, and is the base class of any specialized robots who may derive from it. Teammates should be instances of this class. More...
     
    class  pfuclt::RobotFactory
     The RobotFactory class - Creates and keeps information on the robot running the algorithm and its teammates. Is used as a middle-man between all robots. More...
     
    + + + +

    +Namespaces

     pfuclt
     
    + + + + + + + +

    +Macros

    #define HEURISTICS_THRESH_DEFAULT
     
    #define NUM_WEIGHT   1
     
    #define STATES_PER_ROBOT   3
     
    + + + +

    +Typedefs

    typedef boost::shared_ptr< Robot > pfuclt::Robot_ptr
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define HEURISTICS_THRESH_DEFAULT
    +
    +Value:
    { \
    2.5, 2.5, 2.5, 2.5, FLT_MAX, FLT_MAX, 3.5, 3.5, FLT_MAX, FLT_MAX \
    }
    +

    Definition at line 32 of file pfuclt_omni_dataset.h.

    + +
    +
    + +
    +
    + + + + +
    #define NUM_WEIGHT   1
    +
    + +

    Definition at line 30 of file pfuclt_omni_dataset.h.

    + +
    +
    + +
    +
    + + + + +
    #define STATES_PER_ROBOT   3
    +
    + +

    Definition at line 31 of file pfuclt_omni_dataset.h.

    + +
    +
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
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    + + + +
    +
    +
    pfuclt_omni_dataset.h
    +
    +
    +Go to the documentation of this file.
    1 // STL libraries
    2 #include <vector>
    3 #include <algorithm>
    4 #include <cstdio>
    5 #include <fstream>
    6 #include <string>
    7 
    8 // ROS message definitions
    9 #include <ros/ros.h>
    10 #include <nav_msgs/Odometry.h>
    11 #include <read_omni_dataset/BallData.h>
    12 #include <read_omni_dataset/LRMLandmarksData.h>
    13 
    14 // Eigen libraries
    15 #include <Eigen/Core>
    16 #include <Eigen/Geometry>
    17 
    18 // Boost libraries
    19 #include <boost/bind.hpp>
    20 #include <boost/ref.hpp>
    21 #include <boost/shared_ptr.hpp>
    22 
    23 // Auxiliary libraries
    24 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    25 #include <pfuclt_omni_dataset/pfuclt_particles.h>
    26 
    27 namespace pfuclt
    28 {
    29 using namespace pfuclt_ptcls;
    30 #define NUM_WEIGHT 1
    31 #define STATES_PER_ROBOT 3
    32 #define HEURISTICS_THRESH_DEFAULT \
    33  { \
    34  2.5, 2.5, 2.5, 2.5, FLT_MAX, FLT_MAX, 3.5, 3.5, FLT_MAX, FLT_MAX \
    35  }
    36 
    37 // Forward declaration of classes
    38 class Robot;
    39 
    40 // useful typedefs
    41 typedef boost::shared_ptr<Robot> Robot_ptr;
    42 
    48 class RobotFactory
    49 {
    50 
    51 private:
    52  ros::NodeHandle& nh_;
    53  std::vector<Robot_ptr> robots_;
    54 
    60  bool areAllRobotsActive();
    61 
    62 public:
    63  boost::shared_ptr<ParticleFilter> pf;
    64 
    65  RobotFactory(ros::NodeHandle& nh);
    66 
    71  void tryInitializeParticles();
    72 
    78  void initializeFixedLandmarks();
    79 };
    80 
    86 class Robot
    87 {
    88 protected:
    89  RobotFactory* parent_;
    90  ParticleFilter* pf_;
    91  bool started_;
    92  ros::Time timeStarted_;
    93  ros::Subscriber sOdom_, sBall_, sLandmark_;
    94  uint robotNumber_;
    95  Eigen::Isometry2d initPose_; // x y theta;
    96 
    100  void startNow();
    101 
    102 public:
    111  Robot(ros::NodeHandle& nh, RobotFactory* parent,
    112  ParticleFilter* pf, uint robotNumber);
    113 
    118  void odometryCallback(const nav_msgs::Odometry::ConstPtr&);
    119 
    124  void targetCallback(const read_omni_dataset::BallData::ConstPtr&);
    125 
    130  void
    131  landmarkDataCallback(const read_omni_dataset::LRMLandmarksData::ConstPtr&);
    132 
    137  bool hasStarted() { return started_; }
    138 };
    139 
    140 // end of namespace
    141 }
    pfuclt::Robot::hasStarted
    bool hasStarted()
    hasStarted
    Definition: pfuclt_omni_dataset.h:137
    +
    pfuclt_particles.h
    +
    pfuclt::Robot::timeStarted_
    ros::Time timeStarted_
    Definition: pfuclt_omni_dataset.h:92
    +
    pfuclt_ptcls::ParticleFilter
    Definition: pfuclt_particles.h:96
    + +
    pfuclt::RobotFactory::nh_
    ros::NodeHandle & nh_
    Definition: pfuclt_omni_dataset.h:52
    +
    pfuclt::Robot::sOdom_
    ros::Subscriber sOdom_
    Definition: pfuclt_omni_dataset.h:93
    + + +
    pfuclt::Robot::initPose_
    Eigen::Isometry2d initPose_
    Definition: pfuclt_omni_dataset.h:95
    +
    pfuclt::Robot
    The Robot class - Has the common variables and methods of all robots, and is the base class of any sp...
    Definition: pfuclt_omni_dataset.h:86
    +
    pfuclt::Robot_ptr
    boost::shared_ptr< Robot > Robot_ptr
    Definition: pfuclt_omni_dataset.h:38
    +
    pfuclt::Robot::parent_
    RobotFactory * parent_
    Definition: pfuclt_omni_dataset.h:89
    +
    pfuclt_ptcls
    Definition: pfuclt_particles.h:55
    +
    pfuclt::Robot::pf_
    ParticleFilter * pf_
    Definition: pfuclt_omni_dataset.h:90
    +
    pfuclt::RobotFactory
    The RobotFactory class - Creates and keeps information on the robot running the algorithm and its tea...
    Definition: pfuclt_omni_dataset.h:48
    +
    pfuclt::RobotFactory::robots_
    std::vector< Robot_ptr > robots_
    Definition: pfuclt_omni_dataset.h:53
    +
    pfuclt_aux.h
    +
    pfuclt::RobotFactory::pf
    boost::shared_ptr< ParticleFilter > pf
    Definition: pfuclt_omni_dataset.h:63
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:28 +
    + + diff --git a/doc/html/c++/pfuclt__particles_8cpp.html b/doc/html/c++/pfuclt__particles_8cpp.html index 932a916..2c3c63e 100644 --- a/doc/html/c++/pfuclt__particles_8cpp.html +++ b/doc/html/c++/pfuclt__particles_8cpp.html @@ -9,6 +9,7 @@ @@ -31,7 +32,7 @@
    pfuclt_particles.cpp File Reference
    -
    #include <pfuclt_omni_dataset/pfuclt_particles.h>
    +
    #include <pfuclt_omni_dataset/pfuclt_particles.h>
    #include <ros/ros.h>
    #include <stdlib.h>
    #include <boost/random.hpp>
    @@ -52,6 +53,8 @@
    + +
    @@ -120,7 +123,7 @@

    Macro Definition Documentation

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
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    @@ -28,14 +29,142 @@
    pfuclt_particles.cpp
    -Go to the documentation of this file.
    1 #include <pfuclt_omni_dataset/pfuclt_particles.h>
    2 #include <ros/ros.h>
    3 #include <stdlib.h>
    4 #include <boost/random.hpp>
    5 #include <boost/foreach.hpp>
    6 #include <boost/thread/mutex.hpp>
    7 #include <angles/angles.h>
    8 #include <geometry_msgs/TransformStamped.h>
    9 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
    10 #include <tf2/LinearMath/Quaternion.h>
    11 #include <tf2/transform_datatypes.h>
    12 #include <geometry_msgs/PoseArray.h>
    13 #include <geometry_msgs/PoseStamped.h>
    14 #include <sensor_msgs/PointCloud.h>
    15 #include <visualization_msgs/Marker.h>
    16 #include <read_omni_dataset/read_omni_dataset.h> // defines version of messages
    17 
    18 //#define DONT_RESAMPLE true
    19 //#define DONT_FUSE_TARGET true
    20 //#define DONT_FUSE_ROBOTS true
    21 #define BROADCAST_TF_AND_POSES true
    22 #define PUBLISH_PTCLS true
    23 #define EVALUATE_TIME_PERFORMANCE true
    24 //#define RECONFIGURE_ALPHAS true
    25 
    26 namespace pfuclt_ptcls
    27 {
    28 
    29 ParticleFilter::ParticleFilter(struct PFinitData& data)
    30  : nh_(data.nh), mainRobotID_(data.mainRobotID - 1),
    31  nTargets_(data.nTargets), nStatesPerRobot_(data.statesPerRobot),
    32  nRobots_(data.nRobots),
    33  nSubParticleSets_(data.nTargets * STATES_PER_TARGET +
    34  data.nRobots * data.statesPerRobot + 1),
    35  nLandmarks_(data.nLandmarks), robotsUsed_(data.robotsUsed),
    36  landmarksMap_(data.landmarksMap),
    37  dynamicVariables_(data.nh, data.nRobots),
    38  iteration_oss(new std::ostringstream("")),
    39  nParticles_(dynamicVariables_.nParticles),
    40  particles_(nSubParticleSets_, subparticles_t(nParticles_)),
    41  seed_(time(0)), initialized_(false),
    42  bufLandmarkObservations_(
    43  data.nRobots, std::vector<LandmarkObservation>(data.nLandmarks)),
    44  bufTargetObservations_(data.nRobots),
    45  weightComponents_(data.nRobots, subparticles_t(nParticles_, 0.0)),
    46  state_(data.statesPerRobot, data.nRobots),
    47  targetIterationTime_(), odometryTime_(), iterationEvalTime_(), mutex_(),
    48  dynamicServer_(), O_TARGET(data.nRobots * data.statesPerRobot),
    49  O_WEIGHT(nSubParticleSets_ - 1), numberIterations(0),
    50  durationSum(ros::WallDuration(0))
    51 {
    52  ROS_INFO("Created particle filter with dimensions %d, %d",
    53  (int)particles_.size(), (int)particles_[0].size());
    54 
    55  // Bind dynamic reconfigure callback
    56  dynamic_reconfigure::Server<pfuclt_omni_dataset::DynamicConfig>::CallbackType
    57  callback;
    58  callback = boost::bind(&ParticleFilter::dynamicReconfigureCallback, this, _1);
    59  dynamicServer_.setCallback(callback);
    60 }
    61 
    62 void ParticleFilter::dynamicReconfigureCallback(
    63  pfuclt_omni_dataset::DynamicConfig& config)
    64 {
    65  // Skip first callback which is done automatically for some reason
    66  if (dynamicVariables_.firstCallback)
    67  {
    68  dynamicVariables_.firstCallback = false;
    69  return;
    70  }
    71 
    72  if (!initialized_)
    73  return;
    74 
    75  ROS_INFO("Dynamic Reconfigure Callback:\n\tparticles = "
    76  "%d\n\tresampling_percentage_to_keep = "
    77  "%f\n\tpredict_model_stddev = "
    78  "%f\n\tOMNI1_alpha=%s\n\tOMNI3_alpha=%s\n\tOMNI4_alpha=%s\n\tOMNI5_"
    79  "alpha=%s",
    80  config.particles,
    81  config.groups.resampling.percentage_to_keep,
    82  config.groups.target.predict_model_stddev,
    83  config.groups.alphas.OMNI1_alpha.c_str(),
    84  config.groups.alphas.OMNI3_alpha.c_str(),
    85  config.groups.alphas.OMNI4_alpha.c_str(),
    86  config.groups.alphas.OMNI5_alpha.c_str());
    87 
    88  // Resize particles and re-initialize the pf if value changed
    89  if (dynamicVariables_.nParticles != config.particles)
    90  {
    91  ROS_INFO("Resizing particles to %d and re-initializing the pf",
    92  config.particles);
    93 
    94  resize_particles(config.particles);
    95  nParticles_ = config.particles;
    96  }
    97 
    98  // Update with desired values
    99  dynamicVariables_.nParticles = config.particles;
    100  dynamicVariables_.resamplingPercentageToKeep =
    101  config.groups.resampling.percentage_to_keep;
    102  dynamicVariables_.targetRandStddev =
    103  config.groups.target.predict_model_stddev;
    104 
    105 // Alpha values updated only if using the original dataset
    106 #ifdef RECONFIGURE_ALPHAS
    107  dynamicVariables_.fill_alpha(0, config.groups.alphas.OMNI1_alpha);
    108  dynamicVariables_.fill_alpha(2, config.groups.alphas.OMNI3_alpha);
    109  dynamicVariables_.fill_alpha(3, config.groups.alphas.OMNI4_alpha);
    110  dynamicVariables_.fill_alpha(4, config.groups.alphas.OMNI5_alpha);
    111 #endif
    112 }
    113 
    114 void ParticleFilter::spreadTargetParticlesSphere(float particlesRatio,
    115  pdata_t center[3],
    116  float radius)
    117 {
    118  uint particlesToSpread = nParticles_ * particlesRatio;
    119 
    120  boost::random::uniform_real_distribution<> dist(-radius, radius);
    121 
    122  for (uint p = 0; p < particlesToSpread; ++p)
    123  {
    124  for (uint s = 0; s < STATES_PER_TARGET; ++s)
    125  particles_[O_TARGET + s][p] = center[s] + dist(seed_);
    126  }
    127 }
    128 
    129 void ParticleFilter::predictTarget()
    130 {
    131  *iteration_oss << "predictTarget() -> ";
    132 
    133  using namespace boost::random;
    134 
    135  // Random acceleration model
    136  normal_distribution<> targetAcceleration(TARGET_RAND_MEAN,
    137  dynamicVariables_.targetRandStddev);
    138 
    139  for (int p = 0; p < nParticles_; p++)
    140  {
    141  // Get random accelerations
    142  pdata_t accel[STATES_PER_TARGET] = { targetAcceleration(seed_),
    143  targetAcceleration(seed_),
    144  targetAcceleration(seed_) };
    145 
    146  // Use random acceleration model
    147  for (uint s = 0; s < STATES_PER_TARGET - 1; ++s)
    148  {
    149  particles_[O_TARGET + s][p] += 0.5 * accel[s] * pow(targetIterationTime_.diff, 2);
    150  }
    151  }
    152 }
    153 
    154 void ParticleFilter::fuseRobots()
    155 {
    156  *iteration_oss << "fuseRobots() -> ";
    157 
    158  // Save the latest observation time to be used when publishing
    159  savedLatestObservationTime_ = latestObservationTime_;
    160 
    161  // Keeps track of number of landmarks seen for each robot
    162  std::vector<uint> landmarksSeen(nRobots_, 0);
    163 
    164  // Will track the probability propagation based on the landmark observations
    165  // for each robot
    166  std::vector<subparticles_t> probabilities(nRobots_,
    167  subparticles_t(nParticles_, 1.0));
    168 
    169  // For every robot
    170  for (uint r = 0; r < nRobots_; ++r)
    171  {
    172  // If not used, skip
    173  if (false == robotsUsed_[r])
    174  continue;
    175 
    176  // Index offset for this robot in the particles vector
    177  uint o_robot = r * nStatesPerRobot_;
    178 
    179  // For every landmark
    180  for (uint l = 0; l < nLandmarks_; ++l)
    181  {
    182  // If landmark not seen, skip
    183  if (false == bufLandmarkObservations_[r][l].found)
    184  continue;
    185  else
    186  ++(landmarksSeen[r]);
    187 
    188  // Reference to the observation for easier access
    189  LandmarkObservation& m = bufLandmarkObservations_[r][l];
    190 
    191  // Observation in robot frame
    192  Eigen::Matrix<pdata_t, 2, 1> Zrobot(m.x, m.y);
    193 
    194  // Landmark in global frame
    195  Eigen::Matrix<pdata_t, 2, 1> LMglobal(landmarksMap_[l].x,
    196  landmarksMap_[l].y);
    197 
    198 #pragma omp parallel for
    199  for (uint p = 0; p < nParticles_; ++p)
    200  {
    201 
    202  // Robot pose <=> frame
    203  Eigen::Rotation2D<pdata_t> Rrobot(-particles_[o_robot + O_THETA][p]);
    204  Eigen::Matrix<pdata_t, 2, 1> Srobot(particles_[o_robot + O_X][p],
    205  particles_[o_robot + O_Y][p]);
    206 
    207  // Landmark to robot frame
    208  Eigen::Matrix<pdata_t, 2, 1> LMrobot = Rrobot * (LMglobal - Srobot);
    209 
    210  // Error in observation
    211  Eigen::Matrix<pdata_t, 2, 1> Zerr = LMrobot - Zrobot;
    212 
    213  // The values of interest to the particle weights
    214  // Note: using Eigen wasn't of particular interest here since it does
    215  // not allow for transposing a non-dynamic matrix
    216  float expArg = -0.5 * (Zerr(O_X) * Zerr(O_X) / m.covXX +
    217  Zerr(O_Y) * Zerr(O_Y) / m.covYY);
    218  float detValue = 1.0; // pow((2 * M_PI * m.covXX * m.covYY), -0.5);
    219 
    220  /*
    221  ROS_DEBUG_COND(
    222  p == 0,
    223  "OMNI%d's particle 0 is at {%f;%f;%f}, sees landmark %d with "
    224  "certainty %f%%, and error {%f;%f}",
    225  r + 1, particles_[o_robot + O_X][p], particles_[o_robot + O_Y][p],
    226  particles_[o_robot + O_THETA][p], l, 100 * (detValue * exp(expArg)),
    227  Zerr(0), Zerr(1));
    228  */
    229 
    230  // Update weight component for this robot and particular particle
    231  probabilities[r][p] *= detValue * exp(expArg);
    232  }
    233  }
    234  }
    235 
    236  // Reset weights, later will be multiplied by weightComponents of each robot
    237  resetWeights(1.0);
    238 
    239  // Duplicate particles
    240  particles_t dupParticles(particles_);
    241 
    242  for (uint r = 0; r < nRobots_; ++r)
    243  {
    244  // Again, if robot not used, skip
    245  if (false == robotsUsed_[r])
    246  continue;
    247 
    248  // Check that at least one landmark was seen, if not send warning
    249  // If seen use probabilities vector, if not keep using the previous
    250  // weightComponents for this robot
    251  if (0 == landmarksSeen[r])
    252  {
    253  ROS_WARN("In this iteration, OMNI%d didn't see any landmarks", r + 1);
    254 
    255  // weightComponent stays from previous iteration
    256  }
    257 
    258  else
    259  {
    260  weightComponents_[r] = probabilities[r];
    261  }
    262 
    263  // Index offset for this robot in the particles vector
    264  uint o_robot = r * nStatesPerRobot_;
    265 
    266  // Create a vector of indexes according to a descending order of the weights
    267  // components of robot r
    268  std::vector<uint> sorted = order_index<pdata_t>(weightComponents_[r], DESC);
    269 
    270  // For every particle
    271  for (uint p = 0; p < nParticles_; ++p)
    272  {
    273  // Re-order the particle subsets of this robot
    274  uint sort_index = sorted[p];
    275 
    276  // Copy this sub-particle set from dupParticles' sort_index particle
    277  copyParticle(particles_, dupParticles, p, sort_index, o_robot,
    278  o_robot + nStatesPerRobot_ - 1);
    279 
    280  // Update the particle weight (will get multiplied nRobots times and get a
    281  // lower value)
    282  particles_[O_WEIGHT][p] *= weightComponents_[r][sort_index];
    283  }
    284  }
    285 }
    286 
    287 void ParticleFilter::fuseTarget()
    288 {
    289  *iteration_oss << "fuseTarget() -> ";
    290 
    291  // If ball not seen by any robot, just skip all of this
    292  bool ballSeen = false;
    293  for (std::vector<TargetObservation>::iterator it =
    294  bufTargetObservations_.begin();
    295  it != bufTargetObservations_.end(); ++it)
    296  {
    297  if (it->found)
    298  {
    299  ballSeen = true;
    300  break;
    301  }
    302  }
    303 
    304  // Update ball state
    305  state_.target.seen = ballSeen;
    306 
    307  // exit if ball not seen by any robot
    308  if (!ballSeen)
    309  {
    310  *iteration_oss << "Ball not seen ->";
    311  return;
    312  }
    313  // If program is here, at least one robot saw the ball
    314 
    315  // Instance variables to be worked in the loops
    316  pdata_t maxTargetSubParticleWeight, totalWeight;
    317  uint m, p, mStar, r, o_robot;
    318  float expArg, detValue, Z[3], Zcap[3], Z_Zcap[3];
    319  TargetObservation* obs;
    320 
    321  // For every particle m in the particle set [1:M]
    322  for (m = 0; m < nParticles_; ++m)
    323  {
    324  // Keep track of the maximum contributed weight and that particle's index
    325  maxTargetSubParticleWeight = -1.0f;
    326  mStar = m;
    327 
    328 // Find the particle m* in the set [m:M] for which the weight contribution
    329 // by the target subparticle to the full weight is maximum
    330 #pragma omp parallel for private(p, r, o_robot, obs, expArg, detValue, Z, \
    331  Zcap, Z_Zcap)
    332  for (p = m; p < nParticles_; ++p)
    333  {
    334  // Vector with probabilities for each robot, starting at 0.0 in case the
    335  // robot hasn't seen the ball
    336  std::vector<pdata_t> probabilities(nRobots_, 0.0);
    337 
    338  // Observations of the target by all robots
    339  for (r = 0; r < nRobots_; ++r)
    340  {
    341  if (false == robotsUsed_[r] || false == bufTargetObservations_[r].found)
    342  continue;
    343 
    344  // Usefull variables
    345  obs = &bufTargetObservations_[r];
    346  o_robot = r * nStatesPerRobot_;
    347 
    348  // Observation model
    349  Z[0] = obs->x;
    350  Z[1] = obs->y;
    351  Z[2] = obs->z;
    352  Zcap[0] =
    353  (particles_[O_TARGET + O_TX][p] - particles_[o_robot + O_X][m]) *
    354  (cos(particles_[o_robot + O_THETA][m])) +
    355  (particles_[O_TARGET + O_TY][p] - particles_[o_robot + O_Y][m]) *
    356  (sin(particles_[o_robot + O_THETA][m]));
    357  Zcap[1] =
    358  -(particles_[O_TARGET + O_TX][p] - particles_[o_robot + O_X][m]) *
    359  (sin(particles_[o_robot + O_THETA][m])) +
    360  (particles_[O_TARGET + O_TY][p] - particles_[o_robot + O_Y][m]) *
    361  (cos(particles_[o_robot + O_THETA][m]));
    362  Zcap[2] = particles_[O_TARGET + O_TZ][p];
    363  Z_Zcap[0] = Z[0] - Zcap[0];
    364  Z_Zcap[1] = Z[1] - Zcap[1];
    365  Z_Zcap[2] = Z[2] - Zcap[2];
    366 
    367  expArg = -0.5 * (Z_Zcap[0] * Z_Zcap[0] / obs->covXX +
    368  Z_Zcap[1] * Z_Zcap[1] / obs->covYY +
    369  Z_Zcap[2] * Z_Zcap[2] / .04);
    370  detValue =
    371  1.0; // pow((2 * M_PI * obs->covXX * obs->covYY * 10.0), -0.5);
    372 
    373  // Probability value for this robot and this particle
    374  probabilities[r] = detValue * exp(expArg);
    375  }
    376 
    377  // Total weight contributed by this particle
    378  totalWeight =
    379  std::accumulate(probabilities.begin(), probabilities.end(), 0.0);
    380 
    381  // If the weight is the maximum as of now, update the maximum and set
    382  // particle p as mStar
    383  if (totalWeight > maxTargetSubParticleWeight)
    384  {
    385 // Swap particle m with m* so that the most relevant (in terms of
    386 // weight)
    387 // target subparticle is at the lowest indexes
    388 #pragma omp critical
    389  {
    390  if (totalWeight > maxTargetSubParticleWeight)
    391  {
    392  maxTargetSubParticleWeight = totalWeight;
    393  mStar = p;
    394  }
    395  }
    396  }
    397  }
    398 
    399  // Particle m* has been found, let's swap the subparticles
    400  for (uint i = 0; i < STATES_PER_TARGET; ++i)
    401  std::swap(particles_[O_TARGET + i][m], particles_[O_TARGET + i][mStar]);
    402 
    403  // Update the weight of this particle
    404  particles_[O_WEIGHT][m] *= maxTargetSubParticleWeight;
    405 
    406  // The target subparticles are now reordered according to their weight
    407  // contribution
    408 
    409  // printWeights("After fuseTarget(): ");
    410  }
    411 }
    412 
    413 void ParticleFilter::modifiedMultinomialResampler(uint startAt)
    414 {
    415  // Implementing a very basic resampler... a particle gets selected
    416  // proportional to its weight and startAt% of the top particles are kept
    417 
    418  particles_t duplicate(particles_);
    419 
    420  std::vector<pdata_t> cumulativeWeights(nParticles_);
    421  cumulativeWeights[0] = duplicate[O_WEIGHT][0];
    422 
    423  for (int par = 1; par < nParticles_; par++)
    424  {
    425  cumulativeWeights[par] =
    426  cumulativeWeights[par - 1] + duplicate[O_WEIGHT][par];
    427  }
    428 
    429  int startParticle = nParticles_ * startAt;
    430 
    431  // Robot particle resampling starts only at startParticle
    432  for (int par = startParticle; par < nParticles_; par++)
    433  {
    434  boost::random::uniform_real_distribution<> dist(0, 1);
    435  float randNo = dist(seed_);
    436 
    437  int m = 0;
    438  while (randNo > cumulativeWeights[m])
    439  m++;
    440 
    441  copyParticle(particles_, duplicate, par, m, 0, O_TARGET - 1);
    442  }
    443 
    444  // Target resampling is done for all particles
    445  for (int par = 0; par < nParticles_; par++)
    446  {
    447  boost::random::uniform_real_distribution<> dist(0, 1);
    448  float randNo = dist(seed_);
    449 
    450  int m = 0;
    451  while (randNo > cumulativeWeights[m])
    452  m++;
    453 
    454  copyParticle(particles_, duplicate, par, m, O_TARGET,
    455  nSubParticleSets_ - 1);
    456  }
    457 
    458  // ROS_DEBUG("End of modifiedMultinomialResampler()");
    459 }
    460 
    461 void ParticleFilter::resample()
    462 {
    463  *iteration_oss << "resample() -> ";
    464 
    465  for (uint r = 0; r < nRobots_; ++r)
    466  {
    467  if (false == robotsUsed_[r])
    468  continue;
    469 
    470  uint o_robot = r * nStatesPerRobot_;
    471 
    472  pdata_t stdX = pfuclt_aux::calc_stdDev<pdata_t>(particles_[o_robot + O_X]);
    473  pdata_t stdY = pfuclt_aux::calc_stdDev<pdata_t>(particles_[o_robot + O_Y]);
    474  pdata_t stdTheta =
    475  pfuclt_aux::calc_stdDev<pdata_t>(particles_[o_robot + O_THETA]);
    476 
    477  state_.robots[r].conf = 1 / (stdX + stdY + stdTheta);
    478 
    479  // ROS_DEBUG("OMNI%d stdX = %f, stdY = %f, stdTheta = %f", r + 1, stdX,
    480  // stdY,
    481  // stdTheta);
    482  }
    483 
    484  // Calc. sum of weights
    485  pdata_t weightSum = std::accumulate(particles_[O_WEIGHT].begin(),
    486  particles_[O_WEIGHT].end(), 0.0);
    487 
    488  // ROS_DEBUG("WeightSum before resampling = %f", weightSum);
    489 
    490  // printWeights("before resampling: ");
    491 
    492  if (weightSum < MIN_WEIGHTSUM)
    493  {
    494  ROS_WARN("Zero weightsum - returning without resampling");
    495 
    496  // Print iteration and state information
    497  *iteration_oss << "FAIL! -> ";
    498 
    499  converged_ = false;
    500  resetWeights(1.0 / nParticles_);
    501  return;
    502  }
    503 
    504  converged_ = true;
    505 
    506  // All resamplers use normalized weights
    507  for (uint p = 0; p < nParticles_; ++p)
    508  particles_[O_WEIGHT][p] = particles_[O_WEIGHT][p] / weightSum;
    509 
    510  modifiedMultinomialResampler(dynamicVariables_.resamplingPercentageToKeep /
    511  100.0);
    512 
    513  // printWeights("after resampling: ");
    514 }
    515 
    516 void ParticleFilter::estimate()
    517 {
    518  *iteration_oss << "estimate() -> ";
    519 
    520  pdata_t weightSum = std::accumulate(particles_[O_WEIGHT].begin(),
    521  particles_[O_WEIGHT].end(), 0.0);
    522 
    523  // ROS_DEBUG("WeightSum when estimating = %f", weightSum);
    524 
    525  subparticles_t normalizedWeights(particles_[O_WEIGHT]);
    526 
    527  // Normalize the weights
    528  for (uint p = 0; p < nParticles_; ++p)
    529  normalizedWeights[p] = normalizedWeights[p] / weightSum;
    530 
    531  if (weightSum < MIN_WEIGHTSUM)
    532  {
    533  *iteration_oss << "DONE without estimating!";
    534 
    535  // Increase standard deviation for target prediction
    536  if (dynamicVariables_.targetRandStddev != TARGET_RAND_STDDEV_LOST)
    537  {
    538  dynamicVariables_.oldTargetRandSTddev =
    539  dynamicVariables_.targetRandStddev;
    540  dynamicVariables_.targetRandStddev = TARGET_RAND_STDDEV_LOST;
    541  }
    542 
    543  // Don't estimate
    544  return;
    545  }
    546 
    547  // Return (if necessary) to old target prediction model stddev
    548  if(dynamicVariables_.targetRandStddev != dynamicVariables_.oldTargetRandSTddev)
    549  dynamicVariables_.targetRandStddev = dynamicVariables_.oldTargetRandSTddev;
    550 
    551  // For each robot
    552  for (uint r = 0; r < nRobots_; ++r)
    553  {
    554  // If the robot isn't playing, skip it
    555  if (false == robotsUsed_[r])
    556  continue;
    557 
    558  uint o_robot = r * nStatesPerRobot_;
    559 
    560  // A vector of weighted means that will be calculated in the next loop
    561  std::vector<double> weightedMeans(nStatesPerRobot_ - 1, 0.0);
    562 
    563  // For theta we will obtain the mean of circular quantities, by converting
    564  // to cartesian coordinates, placing each angle in the unit circle,
    565  // averaging these points and finally converting again to polar
    566  double weightedMeanThetaCartesian[2] = { 0, 0 };
    567 
    568  // ..and each particle
    569  for (uint p = 0; p < nParticles_; ++p)
    570  {
    571  // Accumulate the state proportionally to the particle's normalized weight
    572  for (uint g = 0; g < nStatesPerRobot_ - 1; ++g)
    573  {
    574  weightedMeans[g] += particles_[o_robot + g][p] * normalizedWeights[p];
    575  }
    576 
    577  // Mean of circular quantities for theta
    578  weightedMeanThetaCartesian[O_X] +=
    579  cos(particles_[o_robot + O_THETA][p]) * normalizedWeights[p];
    580  weightedMeanThetaCartesian[O_Y] +=
    581  sin(particles_[o_robot + O_THETA][p]) * normalizedWeights[p];
    582  }
    583 
    584  // Put the angle back in polar coordinates
    585  double weightedMeanThetaPolar =
    586  atan2(weightedMeanThetaCartesian[O_Y], weightedMeanThetaCartesian[O_X]);
    587 
    588  // Save in the robot state
    589  // Can't use easy copy since one is using double precision
    590  state_.robots[r].pose[O_X] = weightedMeans[O_X];
    591  state_.robots[r].pose[O_Y] = weightedMeans[O_Y];
    592  state_.robots[r].pose[O_THETA] = weightedMeanThetaPolar;
    593  }
    594 
    595  // Target weighted means
    596  std::vector<double> targetWeightedMeans(STATES_PER_TARGET, 0.0);
    597 
    598  // For each particle
    599  for (uint p = 0; p < nParticles_; ++p)
    600  {
    601  for (uint t = 0; t < STATES_PER_TARGET; ++t)
    602  {
    603  targetWeightedMeans[t] +=
    604  particles_[O_TARGET + t][p] * normalizedWeights[p];
    605  }
    606  }
    607 
    608  // Update position
    609  // Can't use easy copy since one is using double precision
    610  state_.target.pos[O_TX] = targetWeightedMeans[O_TX];
    611  state_.target.pos[O_TY] = targetWeightedMeans[O_TY];
    612  state_.target.pos[O_TZ] = targetWeightedMeans[O_TZ];
    613 
    614  *iteration_oss << "DONE!";
    615 }
    616 
    617 void ParticleFilter::printWeights(std::string pre)
    618 {
    619  std::ostringstream debug;
    620  debug << "Weights " << pre;
    621  for (uint i = 0; i < nParticles_; ++i)
    622  debug << particles_[O_WEIGHT][i] << " ";
    623 
    624  ROS_DEBUG("%s", debug.str().c_str());
    625 }
    626 
    627 // TODO set different values for position and orientation, targets, etc
    628 // Simple version, use default values - randomize all values between [-10,10]
    629 void ParticleFilter::init()
    630 {
    631  if (initialized_)
    632  return;
    633 
    634  int lvalue = -10;
    635  int rvalue = 10;
    636 
    637  std::vector<double> defRand((nSubParticleSets_ - 1) * 2);
    638 
    639  for (int i = 0; i < defRand.size(); i += 2)
    640  {
    641  defRand[i] = lvalue;
    642  defRand[i + 1] = rvalue;
    643  }
    644 
    645  std::vector<double> defPos((nRobots_ * 2), 0.0);
    646 
    647  // Call the custom function with these values
    648  init(defRand, defPos);
    649 }
    650 
    651 // Overloaded function when using custom values
    652 void ParticleFilter::init(const std::vector<double>& customRandInit,
    653  const std::vector<double>& customPosInit)
    654 {
    655  if (initialized_)
    656  return;
    657 
    658  // Set flag
    659  initialized_ = true;
    660 
    661  bool flag_theta_given = (customPosInit.size() == nRobots_ * 3 &&
    662  customRandInit.size() == nSubParticleSets_ * 3);
    663  size_t numVars =
    664  flag_theta_given ? customRandInit.size() / 3 : customRandInit.size() / 2;
    665 
    666  ROS_INFO("Initializing particle filter");
    667 
    668  // For all subparticle sets except the particle weights
    669  for (int i = 0; i < numVars; ++i)
    670  {
    671  ROS_DEBUG("Values for distribution: %.4f %.4f", customRandInit[2 * i],
    672  customRandInit[2 * i + 1]);
    673 
    674  boost::random::uniform_real_distribution<> dist(customRandInit[2 * i],
    675  customRandInit[2 * i + 1]);
    676 
    677  // Sample a value from the uniform distribution for each particle
    678  for (uint p = 0; p < nParticles_; ++p)
    679  particles_[i][p] = dist(seed_);
    680  }
    681 
    682  // Particle weights init with same weight (1/nParticles)
    683  resetWeights(1.0 / nParticles_);
    684 
    685  // Initialize pose with initial belief
    686  for (uint r = 0; r < nRobots_; ++r)
    687  {
    688  pdata_t tmp[] = { customPosInit[2 * r + O_X], customPosInit[2 * r + O_Y],
    689  -M_PI };
    690  state_.robots[r].pose = std::vector<pdata_t>(tmp, tmp + nStatesPerRobot_);
    691  if (flag_theta_given)
    692  state_.robots[r].pose.push_back(customPosInit[2 * r + O_THETA]);
    693  }
    694 
    695  // State should have the initial belief
    696 
    697  ROS_INFO("Particle filter initialized");
    698 }
    699 
    700 void ParticleFilter::predict(const uint robotNumber, const Odometry odom,
    701  const ros::Time stamp)
    702 {
    703  if (!initialized_)
    704  return;
    705 
    706  *iteration_oss << "predict(OMNI" << robotNumber + 1 << ") -> ";
    707 
    708 #ifdef EVALUATE_TIME_PERFORMANCE
    709  // If this is the main robot, update the odometry time
    710  if (mainRobotID_ == robotNumber)
    711  {
    712  odometryTime_.updateTime(ros::WallTime::now());
    713  iterationEvalTime_ = ros::WallTime::now();
    714  }
    715 #endif
    716 
    717  using namespace boost::random;
    718 
    719  // Variables concerning this robot specifically
    720  int robot_offset = robotNumber * nStatesPerRobot_;
    721  std::vector<float>& alpha = dynamicVariables_.alpha[robotNumber];
    722 
    723  // Determining the propagation of the robot state through odometry
    724  pdata_t deltaRot = atan2(odom.y, odom.x);
    725  pdata_t deltaTrans = sqrt(odom.x * odom.x + odom.y * odom.y);
    726  pdata_t deltaFinalRot = odom.theta - deltaRot;
    727 
    728  // Create an error model based on a gaussian distribution
    729  normal_distribution<> deltaRotEffective(deltaRot, alpha[0] * fabs(deltaRot) +
    730  alpha[1] * deltaTrans);
    731 
    732  normal_distribution<> deltaTransEffective(
    733  deltaTrans,
    734  alpha[2] * deltaTrans + alpha[3] * fabs(deltaRot + deltaFinalRot));
    735 
    736  normal_distribution<> deltaFinalRotEffective(
    737  deltaFinalRot, alpha[0] * fabs(deltaFinalRot) + alpha[1] * deltaTrans);
    738 
    739  for (int i = 0; i < nParticles_; i++)
    740  {
    741  // Rotate to final position
    742  particles_[O_THETA + robot_offset][i] += deltaRotEffective(seed_);
    743 
    744  pdata_t sampleTrans = deltaTransEffective(seed_);
    745 
    746  // Translate to final position
    747  particles_[O_X + robot_offset][i] +=
    748  sampleTrans * cos(particles_[O_THETA + robot_offset][i]);
    749  particles_[O_Y + robot_offset][i] +=
    750  sampleTrans * sin(particles_[O_THETA + robot_offset][i]);
    751 
    752  // Rotate to final position and normalize angle
    753  particles_[O_THETA + robot_offset][i] = angles::normalize_angle(
    754  particles_[O_THETA + robot_offset][i] + deltaFinalRotEffective(seed_));
    755  }
    756 
    757  // Check if we should activate robotRandom
    758  // Only if no landmarks and no target seen
    759  uint nLandmarksSeen = 0;
    760  for (std::vector<LandmarkObservation>::iterator it =
    761  bufLandmarkObservations_[robotNumber].begin();
    762  it != bufLandmarkObservations_[robotNumber].end(); ++it)
    763  {
    764  if (it->found)
    765  nLandmarksSeen++;
    766  }
    767 
    768  if (nLandmarksSeen == 0 && !bufTargetObservations_[robotNumber].found)
    769  {
    770  // Randomize a bit for this robot since it does not see landmarks and target
    771  // isn't seen
    772  boost::random::uniform_real_distribution<> randPar(-0.05, 0.05);
    773 
    774  for (uint p = 0; p < nParticles_; ++p)
    775  {
    776  for (uint s = 0; s < nStatesPerRobot_; ++s)
    777  particles_[robot_offset + s][p] += randPar(seed_);
    778  }
    779  }
    780 
    781  // If this is the main robot, perform one PF-UCLT iteration
    782  if (mainRobotID_ == robotNumber)
    783  {
    784  // Lock mutex
    785  boost::mutex::scoped_lock(mutex_);
    786 
    787  // All the PF-UCLT steps
    788  predictTarget();
    789 
    790 #ifndef DONT_FUSE_ROBOTS
    791  fuseRobots();
    792 #endif
    793 
    794 #ifndef DONT_FUSE_TARGET
    795  fuseTarget();
    796 #endif
    797 
    798 #ifndef DONT_RESAMPLE
    799  resample();
    800 #endif
    801 
    802  estimate();
    803 
    804 #ifdef EVALUATE_TIME_PERFORMANCE
    805  ROS_INFO("(WALL TIME) Odometry analyzed with = %fms",
    806  1e3 * odometryTime_.diff);
    807 
    808  deltaIteration_ = ros::WallTime::now() - iterationEvalTime_;
    809  if (deltaIteration_ > maxDeltaIteration_)
    810  maxDeltaIteration_ = deltaIteration_;
    811 
    812  durationSum += deltaIteration_;
    813  numberIterations++;
    814 
    815  ROS_INFO_STREAM("(WALL TIME) Iteration time: "
    816  << 1e-6 * deltaIteration_.toNSec() << "ms ::: Worst case: "
    817  << 1e-6 * maxDeltaIteration_.toNSec() << "ms ::: Average: "
    818  << 1e-6 * (durationSum.toNSec() / numberIterations) << "s");
    819 #endif
    820 
    821  // ROS_DEBUG("Iteration: %s", iteration_oss->str().c_str());
    822  // Clear ostringstream
    823  iteration_oss->str("");
    824  iteration_oss->clear();
    825 
    826  // Start next iteration
    827  nextIteration();
    828  }
    829 }
    830 
    831 void ParticleFilter::saveAllLandmarkMeasurementsDone(const uint robotNumber)
    832 {
    833  *iteration_oss << "allLandmarks(OMNI" << robotNumber + 1 << ") -> ";
    834 }
    835 
    836 void ParticleFilter::saveAllTargetMeasurementsDone(const uint robotNumber)
    837 {
    838  *iteration_oss << "allTargets(OMNI" << robotNumber + 1 << ") -> ";
    839 }
    840 
    841 PFPublisher::PFPublisher(struct ParticleFilter::PFinitData& data,
    842  struct PublishData publishData)
    843  : ParticleFilter(data), pubData(publishData),
    844  robotBroadcasters(data.nRobots), particleStdPublishers_(data.nRobots),
    845  robotGTPublishers_(data.nRobots), robotEstimatePublishers_(data.nRobots)
    846 {
    847  // Prepare particle message
    848  resize_particles(nParticles_);
    849 
    850  // Subscribe to GT data
    851  GT_sub_ = nh_.subscribe<read_omni_dataset::LRMGTData>(
    852  "/gtData_4robotExp", 10,
    853  boost::bind(&PFPublisher::gtDataCallback, this, _1));
    854 
    855  // Other publishers
    856  estimatePublisher_ =
    857  nh_.advertise<read_omni_dataset::Estimate>("/pfuclt_estimate", 100);
    858  particlePublisher_ =
    859  nh_.advertise<pfuclt_omni_dataset::particles>("/pfuclt_particles", 10);
    860 
    861  // Rviz visualization publishers
    862  // Target
    863  targetEstimatePublisher_ =
    864  nh_.advertise<geometry_msgs::PointStamped>("/target/estimatedPose", 1000);
    865  targetGTPublisher_ =
    866  nh_.advertise<geometry_msgs::PointStamped>("/target/gtPose", 1000);
    867  targetParticlePublisher_ =
    868  nh_.advertise<sensor_msgs::PointCloud>("/target/particles", 10);
    869 
    870  // target observations publisher
    871  targetObservationsPublisher_ =
    872  nh_.advertise<visualization_msgs::Marker>("/targetObservations", 100);
    873 
    874  // Robots
    875  for (uint r = 0; r < nRobots_; ++r)
    876  {
    877  std::ostringstream robotName;
    878  robotName << "omni" << r + 1;
    879 
    880  // particle publisher
    881  particleStdPublishers_[r] = nh_.advertise<geometry_msgs::PoseArray>(
    882  "/" + robotName.str() + "/particles", 1000);
    883 
    884  // estimated state
    885  robotEstimatePublishers_[r] = nh_.advertise<geometry_msgs::PoseStamped>(
    886  "/" + robotName.str() + "/estimatedPose", 1000);
    887 
    888  // build estimate msg
    889  msg_estimate_.robotEstimates.push_back(geometry_msgs::Pose());
    890  msg_estimate_.targetVisibility.push_back(false);
    891 
    892 // ground truth publisher, in the simulation package we have PoseStamped
    893 #ifndef USE_NEWER_READ_OMNI_PACKAGE
    894  robotGTPublishers_[r] = nh_.advertise<geometry_msgs::PointStamped>(
    895  "/" + robotName.str() + "/gtPose", 1000);
    896 #else
    897  robotGTPublishers_[r] = nh_.advertise<geometry_msgs::PoseStamped>(
    898  "/" + robotName.str() + "/gtPose", 1000);
    899 #endif
    900  }
    901 
    902  ROS_INFO("It's a publishing particle filter!");
    903 }
    904 
    905 void PFPublisher::publishParticles()
    906 {
    907  // The eval package would rather have the particles in the format
    908  // particle->subparticle instead, so we have to inverse it
    909  for (uint p = 0; p < nParticles_; ++p)
    910  {
    911  for (uint s = 0; s < nSubParticleSets_; ++s)
    912  {
    913  msg_particles_.particles[p].particle[s] = particles_[s][p];
    914  }
    915  }
    916 
    917  // Send it!
    918  particlePublisher_.publish(msg_particles_);
    919 
    920 #ifdef PUBLISH_PTCLS
    921  // Also send as a series of PoseArray messages for each robot
    922  for (uint r = 0; r < nRobots_; ++r)
    923  {
    924  if (false == robotsUsed_[r])
    925  continue;
    926 
    927  uint o_robot = r * nStatesPerRobot_;
    928  geometry_msgs::PoseArray msgStd_particles;
    929  msgStd_particles.header.stamp = savedLatestObservationTime_;
    930  msgStd_particles.header.frame_id = "world";
    931 
    932  for (uint p = 0; p < nParticles_; ++p)
    933  {
    934  tf2::Quaternion tf2q(tf2::Vector3(0, 0, 1),
    935  particles_[o_robot + O_THETA][p]);
    936  tf2::Transform tf2t(tf2q, tf2::Vector3(particles_[o_robot + O_X][p],
    937  particles_[o_robot + O_Y][p],
    938  pubData.robotHeight));
    939 
    940  geometry_msgs::Pose pose;
    941  tf2::toMsg(tf2t, pose);
    942  msgStd_particles.poses.insert(msgStd_particles.poses.begin(), pose);
    943  }
    944 
    945  particleStdPublishers_[r].publish(msgStd_particles);
    946  }
    947 
    948  // Send target particles as a pointcloud
    949  sensor_msgs::PointCloud target_particles;
    950  target_particles.header.stamp = ros::Time::now();
    951  target_particles.header.frame_id = "world";
    952 
    953  for (uint p = 0; p < nParticles_; ++p)
    954  {
    955  geometry_msgs::Point32 point;
    956  point.x = particles_[O_TARGET + O_TX][p];
    957  point.y = particles_[O_TARGET + O_TY][p];
    958  point.z = particles_[O_TARGET + O_TZ][p];
    959 
    960  target_particles.points.insert(target_particles.points.begin(), point);
    961  }
    962  targetParticlePublisher_.publish(target_particles);
    963 
    964 #endif
    965 }
    966 
    967 void PFPublisher::publishRobotStates()
    968 {
    969  // This is pretty much copy and paste
    970  for (uint r = 0; r < nRobots_; ++r)
    971  {
    972  if (false == robotsUsed_[r])
    973  continue;
    974 
    975  std::ostringstream robotName;
    976  robotName << "omni" << r + 1;
    977 
    978  msg_estimate_.header.stamp = savedLatestObservationTime_;
    979 
    980  ParticleFilter::State::robotState_s& pfState = state_.robots[r];
    981  geometry_msgs::Pose& rosState = msg_estimate_.robotEstimates[r];
    982 
    983  // Create from Euler angles
    984  tf2::Quaternion tf2q(tf2::Vector3(0, 0, 1), pfState.pose[O_THETA]);
    985  tf2::Transform tf2t(tf2q, tf2::Vector3(pfState.pose[O_X], pfState.pose[O_Y],
    986  pubData.robotHeight));
    987 
    988  // Transform to our message type
    989  tf2::toMsg(tf2t, rosState);
    990 
    991 #ifdef BROADCAST_TF_AND_POSES
    992  // TF2 broadcast
    993  geometry_msgs::TransformStamped estTransf;
    994  estTransf.header.stamp = savedLatestObservationTime_;
    995  estTransf.header.frame_id = "world";
    996  estTransf.child_frame_id = robotName.str() + "est";
    997  estTransf.transform = tf2::toMsg(tf2t);
    998  robotBroadcasters[r].sendTransform(estTransf);
    999 
    1000  // Publish as a standard pose msg using the previous TF
    1001  geometry_msgs::PoseStamped estPose;
    1002  estPose.header.stamp = estTransf.header.stamp;
    1003  estPose.header.frame_id = estTransf.child_frame_id;
    1004  // Pose is everything at 0 as it's the same as the TF
    1005 
    1006  robotEstimatePublishers_[r].publish(estPose);
    1007 #endif
    1008  }
    1009 }
    1010 
    1011 void PFPublisher::publishTargetState()
    1012 {
    1013  msg_estimate_.targetEstimate.header.frame_id = "world";
    1014 
    1015  // Our custom message type
    1016  msg_estimate_.targetEstimate.x = state_.target.pos[O_TX];
    1017  msg_estimate_.targetEstimate.y = state_.target.pos[O_TY];
    1018  msg_estimate_.targetEstimate.z = state_.target.pos[O_TZ];
    1019  msg_estimate_.targetEstimate.found = state_.target.seen;
    1020 
    1021  for (uint r = 0; r < nRobots_; ++r)
    1022  {
    1023  msg_estimate_.targetVisibility[r] = bufTargetObservations_[r].found;
    1024  }
    1025 
    1026 #ifdef BROADCAST_TF_AND_POSES
    1027  // Publish as a standard pose msg using the previous TF
    1028  geometry_msgs::PointStamped estPoint;
    1029  estPoint.header.stamp = ros::Time::now();
    1030  estPoint.header.frame_id = "world";
    1031  estPoint.point.x = state_.target.pos[O_TX];
    1032  estPoint.point.y = state_.target.pos[O_TY];
    1033  estPoint.point.z = state_.target.pos[O_TZ];
    1034 
    1035  targetEstimatePublisher_.publish(estPoint);
    1036 #endif
    1037 }
    1038 
    1039 void PFPublisher::publishEstimate()
    1040 {
    1041  // msg_estimate_ has been built in other methods (publishRobotStates and
    1042  // publishTargetState)
    1043  msg_estimate_.computationTime = deltaIteration_.toNSec() * 1e-9;
    1044  msg_estimate_.converged = converged_;
    1045 
    1046  estimatePublisher_.publish(msg_estimate_);
    1047 }
    1048 
    1049 void PFPublisher::publishTargetObservations()
    1050 {
    1051  static std::vector<bool> previouslyPublished(nRobots_, false);
    1052 
    1053  for (uint r = 0; r < nRobots_; ++r)
    1054  {
    1055  // Publish as rviz standard visualization types (an arrow)
    1056  visualization_msgs::Marker marker;
    1057 
    1058  if (!robotsUsed_[r])
    1059  continue;
    1060 
    1061  // Robot and observation
    1062  std::ostringstream robotName;
    1063  robotName << "omni" << r + 1;
    1064 
    1065  TargetObservation& obs = bufTargetObservations_[r];
    1066 
    1067  // If not found, let's just publish that one time
    1068  if (obs.found == false)
    1069  {
    1070  if (previouslyPublished[r])
    1071  continue;
    1072  else
    1073  previouslyPublished[r] = true;
    1074  }
    1075  else
    1076  previouslyPublished[r] = false;
    1077 
    1078  marker.header.frame_id = robotName.str() + "est";
    1079  marker.header.stamp = savedLatestObservationTime_;
    1080 
    1081  // Setting the same namespace and id will overwrite the previous marker
    1082  marker.ns = robotName.str() + "_target_observations";
    1083  marker.id = 0;
    1084 
    1085  marker.type = visualization_msgs::Marker::ARROW;
    1086  marker.action = visualization_msgs::Marker::ADD;
    1087 
    1088  // Arrow draw
    1089  geometry_msgs::Point tail;
    1090  tail.x = tail.y = tail.z = 0.0;
    1091  // Point at index 0 - tail tip - is 0,0,0 because we're in the local frame
    1092  marker.points.push_back(tail);
    1093  // Point at index 1 - head - is the target pose in the local frame
    1094  geometry_msgs::Point head;
    1095  head.x = obs.x;
    1096  head.y = obs.y;
    1097  head.z = obs.z - pubData.robotHeight;
    1098  marker.points.push_back(head);
    1099 
    1100  marker.scale.x = 0.01;
    1101  marker.scale.y = 0.03;
    1102  marker.scale.z = 0.05;
    1103 
    1104  // Colour
    1105  marker.color.a = 1;
    1106  if (obs.found)
    1107  marker.color.r = marker.color.g = marker.color.b = 0.6;
    1108  else
    1109  {
    1110  marker.color.r = 1.0;
    1111  marker.color.g = marker.color.b = 0.0;
    1112  }
    1113 
    1114  // Other
    1115  marker.lifetime = ros::Duration(2);
    1116 
    1117  // Send it
    1118  targetObservationsPublisher_.publish(marker);
    1119  }
    1120 }
    1121 
    1122 void PFPublisher::publishGTData()
    1123 {
    1124  geometry_msgs::PointStamped gtPoint;
    1125  gtPoint.header.stamp = savedLatestObservationTime_;
    1126  gtPoint.header.frame_id = "world";
    1127 
    1128 #ifdef USE_NEWER_READ_OMNI_PACKAGE
    1129  geometry_msgs::PoseStamped gtPose;
    1130  gtPose.header.stamp = savedLatestObservationTime_;
    1131  gtPose.header.frame_id = "world";
    1132 
    1133  for (uint r = 0; r < nRobots_; ++r)
    1134  {
    1135  gtPose.pose = msg_GT_.poseOMNI[r].pose;
    1136  robotGTPublishers_[r].publish(gtPose);
    1137  }
    1138 
    1139 #else
    1140  if (true == robotsUsed_[0])
    1141  {
    1142  gtPoint.point = msg_GT_.poseOMNI1.pose.position;
    1143  robotGTPublishers_[0].publish(gtPoint);
    1144  }
    1145 
    1146  if (true == robotsUsed_[2])
    1147  {
    1148  gtPoint.point = msg_GT_.poseOMNI3.pose.position;
    1149  robotGTPublishers_[2].publish(gtPoint);
    1150  }
    1151 
    1152  if (true == robotsUsed_[3])
    1153  {
    1154  gtPoint.point = msg_GT_.poseOMNI4.pose.position;
    1155  robotGTPublishers_[3].publish(gtPoint);
    1156  }
    1157 
    1158  if (true == robotsUsed_[4])
    1159  {
    1160  gtPoint.point = msg_GT_.poseOMNI5.pose.position;
    1161  robotGTPublishers_[4].publish(gtPoint);
    1162  }
    1163 #endif
    1164 
    1165  // Publish for the target as well
    1166  if (msg_GT_.orangeBall3DGTposition.found)
    1167  {
    1168  gtPoint.point.x = msg_GT_.orangeBall3DGTposition.x;
    1169  gtPoint.point.y = msg_GT_.orangeBall3DGTposition.y;
    1170  gtPoint.point.z = msg_GT_.orangeBall3DGTposition.z;
    1171  targetGTPublisher_.publish(gtPoint);
    1172  }
    1173 }
    1174 
    1175 void PFPublisher::gtDataCallback(
    1176  const read_omni_dataset::LRMGTData::ConstPtr& gtMsgReceived)
    1177 {
    1178  msg_GT_ = *gtMsgReceived;
    1179 }
    1180 
    1181 void PFPublisher::nextIteration()
    1182 {
    1183  // Call the base class method
    1184  ParticleFilter::nextIteration();
    1185 
    1186  // Publish the particles first
    1187  publishParticles();
    1188 
    1189  // Publish robot states
    1190  publishRobotStates();
    1191 
    1192  // Publish target state
    1193  publishTargetState();
    1194 
    1195  // Publish estimate
    1196  publishEstimate();
    1197 
    1198  // Publish robot-to-target lines
    1199  publishTargetObservations();
    1200 
    1201 // Publish GT data if we have received any callback
    1202 #ifdef USE_NEWER_READ_OMNI_PACKAGE
    1203  if (!msg_GT_.poseOMNI.empty())
    1204  publishGTData();
    1205 #else
    1206  publishGTData();
    1207 #endif
    1208 }
    1209 
    1210 ParticleFilter::dynamicVariables_s::dynamicVariables_s(ros::NodeHandle& nh,
    1211  const uint nRobots)
    1212  : alpha(nRobots, std::vector<float>(NUM_ALPHAS)), firstCallback(true)
    1213 {
    1214  // Get node parameters, assume they exist
    1215  readParam<double>(nh, "percentage_to_keep", resamplingPercentageToKeep);
    1216 
    1217  readParam<int>(nh, "particles", nParticles);
    1218 
    1219  readParam<double>(nh, "predict_model_stddev", targetRandStddev);
    1220  oldTargetRandSTddev = targetRandStddev;
    1221 
    1222  // Get alpha values for some robots (hard-coded for our 4 robots..)
    1223  for (uint r = 0; r < nRobots; ++r)
    1224  {
    1225  std::string paramName =
    1226  "OMNI" + boost::lexical_cast<std::string>(r + 1) + "_alpha";
    1227 
    1228  std::string str;
    1229  if (readParam<std::string>(nh, paramName, str))
    1230  fill_alpha(r, str); // value was provided
    1231  else
    1232  fill_alpha(r, "0.015,0.1,0.5,0.001"); // default
    1233  }
    1234 }
    1235 
    1236 void ParticleFilter::dynamicVariables_s::fill_alpha(const uint robot,
    1237  const std::string& str)
    1238 {
    1239  // Tokenize the string of comma-separated values
    1240  std::istringstream iss(str);
    1241  std::string token;
    1242  uint tokenCount = 0;
    1243  while (std::getline(iss, token, ','))
    1244  {
    1245  if (tokenCount >= NUM_ALPHAS)
    1246  break;
    1247 
    1248  std::istringstream tokss(token);
    1249  float val;
    1250  tokss >> val;
    1251 
    1252  if (val < 0)
    1253  {
    1254  ROS_WARN("Invalid alpha value %f", val);
    1255  continue;
    1256  }
    1257 
    1258  alpha[robot][tokenCount] = val;
    1259  ++tokenCount;
    1260  }
    1261 
    1262  ROS_WARN_COND(tokenCount != NUM_ALPHAS,
    1263  "Number of alpha values provided is not the required number %d",
    1264  NUM_ALPHAS);
    1265 }
    1266 
    1267 // end of namespace pfuclt_ptcls
    1268 }
    pfuclt_ptcls
    Definition: pfuclt_particles.cpp:26
    +Go to the documentation of this file.
    1 #include <pfuclt_omni_dataset/pfuclt_particles.h>
    2 #include <ros/ros.h>
    3 #include <stdlib.h>
    4 #include <boost/random.hpp>
    5 #include <boost/foreach.hpp>
    6 #include <boost/thread/mutex.hpp>
    7 #include <angles/angles.h>
    8 #include <geometry_msgs/TransformStamped.h>
    9 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
    10 #include <tf2/LinearMath/Quaternion.h>
    11 #include <tf2/transform_datatypes.h>
    12 #include <geometry_msgs/PoseArray.h>
    13 #include <geometry_msgs/PoseStamped.h>
    14 #include <sensor_msgs/PointCloud.h>
    15 #include <visualization_msgs/Marker.h>
    16 #include <read_omni_dataset/read_omni_dataset.h> // defines version of messages
    17 
    18 //#define DONT_RESAMPLE true
    19 //#define DONT_FUSE_TARGET true
    20 //#define DONT_FUSE_ROBOTS true
    21 #define BROADCAST_TF_AND_POSES true
    22 #define PUBLISH_PTCLS true
    23 #define EVALUATE_TIME_PERFORMANCE true
    24 //#define RECONFIGURE_ALPHAS true
    25 
    26 namespace pfuclt_ptcls
    27 {
    28 
    29 ParticleFilter::ParticleFilter(struct PFinitData& data)
    30  : nh_(data.nh), mainRobotID_(data.mainRobotID - 1),
    31  nTargets_(data.nTargets), nStatesPerRobot_(data.statesPerRobot),
    32  nRobots_(data.nRobots),
    33  nSubParticleSets_(data.nTargets * STATES_PER_TARGET +
    34  data.nRobots * data.statesPerRobot + 1),
    35  nLandmarks_(data.nLandmarks), robotsUsed_(data.robotsUsed),
    36  landmarksMap_(data.landmarksMap),
    37  dynamicVariables_(data.nh, data.nRobots),
    38  iteration_oss(new std::ostringstream("")),
    39  nParticles_(dynamicVariables_.nParticles),
    40  particles_(nSubParticleSets_, subparticles_t(nParticles_)),
    41  seed_(time(0)), initialized_(false),
    42  bufLandmarkObservations_(
    43  data.nRobots, std::vector<LandmarkObservation>(data.nLandmarks)),
    44  bufTargetObservations_(data.nRobots),
    45  weightComponents_(data.nRobots, subparticles_t(nParticles_, 0.0)),
    46  state_(data.statesPerRobot, data.nRobots),
    47  targetIterationTime_(), odometryTime_(), iterationEvalTime_(), mutex_(),
    48  dynamicServer_(), O_TARGET(data.nRobots * data.statesPerRobot),
    49  O_WEIGHT(nSubParticleSets_ - 1), numberIterations(0),
    50  durationSum(ros::WallDuration(0))
    51 {
    52  ROS_INFO("Created particle filter with dimensions %d, %d",
    53  (int)particles_.size(), (int)particles_[0].size());
    54 
    55  // Bind dynamic reconfigure callback
    56  dynamic_reconfigure::Server<pfuclt_omni_dataset::DynamicConfig>::CallbackType
    57  callback;
    58  callback = boost::bind(&ParticleFilter::dynamicReconfigureCallback, this, _1);
    59  dynamicServer_.setCallback(callback);
    60 }
    61 
    62 void ParticleFilter::dynamicReconfigureCallback(
    63  pfuclt_omni_dataset::DynamicConfig& config)
    64 {
    65  // Skip first callback which is done automatically for some reason
    66  if (dynamicVariables_.firstCallback)
    67  {
    68  dynamicVariables_.firstCallback = false;
    69  return;
    70  }
    71 
    72  if (!initialized_)
    73  return;
    74 
    75  ROS_INFO("Dynamic Reconfigure Callback:\n\tparticles = "
    76  "%d\n\tresampling_percentage_to_keep = "
    77  "%f\n\tpredict_model_stddev = "
    78  "%f\n\tOMNI1_alpha=%s\n\tOMNI3_alpha=%s\n\tOMNI4_alpha=%s\n\tOMNI5_"
    79  "alpha=%s",
    80  config.particles,
    81  config.groups.resampling.percentage_to_keep,
    82  config.groups.target.predict_model_stddev,
    83  config.groups.alphas.OMNI1_alpha.c_str(),
    84  config.groups.alphas.OMNI3_alpha.c_str(),
    85  config.groups.alphas.OMNI4_alpha.c_str(),
    86  config.groups.alphas.OMNI5_alpha.c_str());
    87 
    88  // Resize particles and re-initialize the pf if value changed
    89  if (dynamicVariables_.nParticles != config.particles)
    90  {
    91  ROS_INFO("Resizing particles to %d and re-initializing the pf",
    92  config.particles);
    93 
    94  resize_particles(config.particles);
    95  nParticles_ = config.particles;
    96  }
    97 
    98  // Update with desired values
    99  dynamicVariables_.nParticles = config.particles;
    100  dynamicVariables_.resamplingPercentageToKeep =
    101  config.groups.resampling.percentage_to_keep;
    102  dynamicVariables_.targetRandStddev =
    103  config.groups.target.predict_model_stddev;
    104 
    105 // Alpha values updated only if using the original dataset
    106 #ifdef RECONFIGURE_ALPHAS
    107  dynamicVariables_.fill_alpha(0, config.groups.alphas.OMNI1_alpha);
    108  dynamicVariables_.fill_alpha(2, config.groups.alphas.OMNI3_alpha);
    109  dynamicVariables_.fill_alpha(3, config.groups.alphas.OMNI4_alpha);
    110  dynamicVariables_.fill_alpha(4, config.groups.alphas.OMNI5_alpha);
    111 #endif
    112 }
    113 
    114 void ParticleFilter::spreadTargetParticlesSphere(float particlesRatio,
    115  pdata_t center[3],
    116  float radius)
    117 {
    118  uint particlesToSpread = nParticles_ * particlesRatio;
    119 
    120  boost::random::uniform_real_distribution<> dist(-radius, radius);
    121 
    122  for (uint p = 0; p < particlesToSpread; ++p)
    123  {
    124  for (uint s = 0; s < STATES_PER_TARGET; ++s)
    125  particles_[O_TARGET + s][p] = center[s] + dist(seed_);
    126  }
    127 }
    128 
    129 void ParticleFilter::predictTarget()
    130 {
    131  *iteration_oss << "predictTarget() -> ";
    132 
    133  using namespace boost::random;
    134 
    135  // Random acceleration model
    136  normal_distribution<> targetAcceleration(TARGET_RAND_MEAN,
    137  dynamicVariables_.targetRandStddev);
    138 
    139  for (int p = 0; p < nParticles_; p++)
    140  {
    141  // Get random accelerations
    142  pdata_t accel[STATES_PER_TARGET] = { targetAcceleration(seed_),
    143  targetAcceleration(seed_),
    144  targetAcceleration(seed_) };
    145 
    146  // Use random acceleration model
    147  for (uint s = 0; s < STATES_PER_TARGET - 1; ++s)
    148  {
    149  particles_[O_TARGET + s][p] += 0.5 * accel[s] * pow(targetIterationTime_.diff, 2);
    150  }
    151  }
    152 }
    153 
    154 void ParticleFilter::fuseRobots()
    155 {
    156  *iteration_oss << "fuseRobots() -> ";
    157 
    158  // Save the latest observation time to be used when publishing
    159  savedLatestObservationTime_ = latestObservationTime_;
    160 
    161  // Keeps track of number of landmarks seen for each robot
    162  std::vector<uint> landmarksSeen(nRobots_, 0);
    163 
    164  // Will track the probability propagation based on the landmark observations
    165  // for each robot
    166  std::vector<subparticles_t> probabilities(nRobots_,
    167  subparticles_t(nParticles_, 1.0));
    168 
    169  // For every robot
    170  for (uint r = 0; r < nRobots_; ++r)
    171  {
    172  // If not used, skip
    173  if (false == robotsUsed_[r])
    174  continue;
    175 
    176  // Index offset for this robot in the particles vector
    177  uint o_robot = r * nStatesPerRobot_;
    178 
    179  // For every landmark
    180  for (uint l = 0; l < nLandmarks_; ++l)
    181  {
    182  // If landmark not seen, skip
    183  if (false == bufLandmarkObservations_[r][l].found)
    184  continue;
    185  else
    186  ++(landmarksSeen[r]);
    187 
    188  // Reference to the observation for easier access
    189  LandmarkObservation& m = bufLandmarkObservations_[r][l];
    190 
    191  // Observation in robot frame
    192  Eigen::Matrix<pdata_t, 2, 1> Zrobot(m.x, m.y);
    193 
    194  // Landmark in global frame
    195  Eigen::Matrix<pdata_t, 2, 1> LMglobal(landmarksMap_[l].x,
    196  landmarksMap_[l].y);
    197 
    198 #pragma omp parallel for
    199  for (uint p = 0; p < nParticles_; ++p)
    200  {
    201 
    202  // Robot pose <=> frame
    203  Eigen::Rotation2D<pdata_t> Rrobot(-particles_[o_robot + O_THETA][p]);
    204  Eigen::Matrix<pdata_t, 2, 1> Srobot(particles_[o_robot + O_X][p],
    205  particles_[o_robot + O_Y][p]);
    206 
    207  // Landmark to robot frame
    208  Eigen::Matrix<pdata_t, 2, 1> LMrobot = Rrobot * (LMglobal - Srobot);
    209 
    210  // Error in observation
    211  Eigen::Matrix<pdata_t, 2, 1> Zerr = LMrobot - Zrobot;
    212 
    213  // The values of interest to the particle weights
    214  // Note: using Eigen wasn't of particular interest here since it does
    215  // not allow for transposing a non-dynamic matrix
    216  float expArg = -0.5 * (Zerr(O_X) * Zerr(O_X) / m.covXX +
    217  Zerr(O_Y) * Zerr(O_Y) / m.covYY);
    218  float detValue = 1.0; // pow((2 * M_PI * m.covXX * m.covYY), -0.5);
    219 
    220  /*
    221  ROS_DEBUG_COND(
    222  p == 0,
    223  "OMNI%d's particle 0 is at {%f;%f;%f}, sees landmark %d with "
    224  "certainty %f%%, and error {%f;%f}",
    225  r + 1, particles_[o_robot + O_X][p], particles_[o_robot + O_Y][p],
    226  particles_[o_robot + O_THETA][p], l, 100 * (detValue * exp(expArg)),
    227  Zerr(0), Zerr(1));
    228  */
    229 
    230  // Update weight component for this robot and particular particle
    231  probabilities[r][p] *= detValue * exp(expArg);
    232  }
    233  }
    234  }
    235 
    236  // Reset weights, later will be multiplied by weightComponents of each robot
    237  resetWeights(1.0);
    238 
    239  // Duplicate particles
    240  particles_t dupParticles(particles_);
    241 
    242  for (uint r = 0; r < nRobots_; ++r)
    243  {
    244  // Again, if robot not used, skip
    245  if (false == robotsUsed_[r])
    246  continue;
    247 
    248  // Check that at least one landmark was seen, if not send warning
    249  // If seen use probabilities vector, if not keep using the previous
    250  // weightComponents for this robot
    251  if (0 == landmarksSeen[r])
    252  {
    253  ROS_WARN("In this iteration, OMNI%d didn't see any landmarks", r + 1);
    254 
    255  // weightComponent stays from previous iteration
    256  }
    257 
    258  else
    259  {
    260  weightComponents_[r] = probabilities[r];
    261  }
    262 
    263  // Index offset for this robot in the particles vector
    264  uint o_robot = r * nStatesPerRobot_;
    265 
    266  // Create a vector of indexes according to a descending order of the weights
    267  // components of robot r
    268  std::vector<uint> sorted = order_index<pdata_t>(weightComponents_[r], DESC);
    269 
    270  // For every particle
    271  for (uint p = 0; p < nParticles_; ++p)
    272  {
    273  // Re-order the particle subsets of this robot
    274  uint sort_index = sorted[p];
    275 
    276  // Copy this sub-particle set from dupParticles' sort_index particle
    277  copyParticle(particles_, dupParticles, p, sort_index, o_robot,
    278  o_robot + nStatesPerRobot_ - 1);
    279 
    280  // Update the particle weight (will get multiplied nRobots times and get a
    281  // lower value)
    282  particles_[O_WEIGHT][p] *= weightComponents_[r][sort_index];
    283  }
    284  }
    285 }
    286 
    287 void ParticleFilter::fuseTarget()
    288 {
    289  *iteration_oss << "fuseTarget() -> ";
    290 
    291  // If ball not seen by any robot, just skip all of this
    292  bool ballSeen = false;
    293  for (std::vector<TargetObservation>::iterator it =
    294  bufTargetObservations_.begin();
    295  it != bufTargetObservations_.end(); ++it)
    296  {
    297  if (it->found)
    298  {
    299  ballSeen = true;
    300  break;
    301  }
    302  }
    303 
    304  // Update ball state
    305  state_.target.seen = ballSeen;
    306 
    307  // exit if ball not seen by any robot
    308  if (!ballSeen)
    309  {
    310  *iteration_oss << "Ball not seen ->";
    311  return;
    312  }
    313  // If program is here, at least one robot saw the ball
    314 
    315  // Instance variables to be worked in the loops
    316  pdata_t maxTargetSubParticleWeight, totalWeight;
    317  uint m, p, mStar, r, o_robot;
    318  float expArg, detValue, Z[3], Zcap[3], Z_Zcap[3];
    319  TargetObservation* obs;
    320 
    321  // For every particle m in the particle set [1:M]
    322  for (m = 0; m < nParticles_; ++m)
    323  {
    324  // Keep track of the maximum contributed weight and that particle's index
    325  maxTargetSubParticleWeight = -1.0f;
    326  mStar = m;
    327 
    328 // Find the particle m* in the set [m:M] for which the weight contribution
    329 // by the target subparticle to the full weight is maximum
    330 #pragma omp parallel for private(p, r, o_robot, obs, expArg, detValue, Z, \
    331  Zcap, Z_Zcap)
    332  for (p = m; p < nParticles_; ++p)
    333  {
    334  // Vector with probabilities for each robot, starting at 0.0 in case the
    335  // robot hasn't seen the ball
    336  std::vector<pdata_t> probabilities(nRobots_, 0.0);
    337 
    338  // Observations of the target by all robots
    339  for (r = 0; r < nRobots_; ++r)
    340  {
    341  if (false == robotsUsed_[r] || false == bufTargetObservations_[r].found)
    342  continue;
    343 
    344  // Usefull variables
    345  obs = &bufTargetObservations_[r];
    346  o_robot = r * nStatesPerRobot_;
    347 
    348  // Observation model
    349  Z[0] = obs->x;
    350  Z[1] = obs->y;
    351  Z[2] = obs->z;
    352  Zcap[0] =
    353  (particles_[O_TARGET + O_TX][p] - particles_[o_robot + O_X][m]) *
    354  (cos(particles_[o_robot + O_THETA][m])) +
    355  (particles_[O_TARGET + O_TY][p] - particles_[o_robot + O_Y][m]) *
    356  (sin(particles_[o_robot + O_THETA][m]));
    357  Zcap[1] =
    358  -(particles_[O_TARGET + O_TX][p] - particles_[o_robot + O_X][m]) *
    359  (sin(particles_[o_robot + O_THETA][m])) +
    360  (particles_[O_TARGET + O_TY][p] - particles_[o_robot + O_Y][m]) *
    361  (cos(particles_[o_robot + O_THETA][m]));
    362  Zcap[2] = particles_[O_TARGET + O_TZ][p];
    363  Z_Zcap[0] = Z[0] - Zcap[0];
    364  Z_Zcap[1] = Z[1] - Zcap[1];
    365  Z_Zcap[2] = Z[2] - Zcap[2];
    366 
    367  expArg = -0.5 * (Z_Zcap[0] * Z_Zcap[0] / obs->covXX +
    368  Z_Zcap[1] * Z_Zcap[1] / obs->covYY +
    369  Z_Zcap[2] * Z_Zcap[2] / .04);
    370  detValue =
    371  1.0; // pow((2 * M_PI * obs->covXX * obs->covYY * 10.0), -0.5);
    372 
    373  // Probability value for this robot and this particle
    374  probabilities[r] = detValue * exp(expArg);
    375  }
    376 
    377  // Total weight contributed by this particle
    378  totalWeight =
    379  std::accumulate(probabilities.begin(), probabilities.end(), 0.0);
    380 
    381  // If the weight is the maximum as of now, update the maximum and set
    382  // particle p as mStar
    383  if (totalWeight > maxTargetSubParticleWeight)
    384  {
    385 // Swap particle m with m* so that the most relevant (in terms of
    386 // weight)
    387 // target subparticle is at the lowest indexes
    388 #pragma omp critical
    389  {
    390  if (totalWeight > maxTargetSubParticleWeight)
    391  {
    392  maxTargetSubParticleWeight = totalWeight;
    393  mStar = p;
    394  }
    395  }
    396  }
    397  }
    398 
    399  // Particle m* has been found, let's swap the subparticles
    400  for (uint i = 0; i < STATES_PER_TARGET; ++i)
    401  std::swap(particles_[O_TARGET + i][m], particles_[O_TARGET + i][mStar]);
    402 
    403  // Update the weight of this particle
    404  particles_[O_WEIGHT][m] *= maxTargetSubParticleWeight;
    405 
    406  // The target subparticles are now reordered according to their weight
    407  // contribution
    408 
    409  // printWeights("After fuseTarget(): ");
    410  }
    411 }
    412 
    413 void ParticleFilter::modifiedMultinomialResampler(uint startAt)
    414 {
    415  // Implementing a very basic resampler... a particle gets selected
    416  // proportional to its weight and startAt% of the top particles are kept
    417 
    418  particles_t duplicate(particles_);
    419 
    420  std::vector<pdata_t> cumulativeWeights(nParticles_);
    421  cumulativeWeights[0] = duplicate[O_WEIGHT][0];
    422 
    423  for (int par = 1; par < nParticles_; par++)
    424  {
    425  cumulativeWeights[par] =
    426  cumulativeWeights[par - 1] + duplicate[O_WEIGHT][par];
    427  }
    428 
    429  int startParticle = nParticles_ * startAt;
    430 
    431  // Robot particle resampling starts only at startParticle
    432  for (int par = startParticle; par < nParticles_; par++)
    433  {
    434  boost::random::uniform_real_distribution<> dist(0, 1);
    435  float randNo = dist(seed_);
    436 
    437  int m = 0;
    438  while (randNo > cumulativeWeights[m])
    439  m++;
    440 
    441  copyParticle(particles_, duplicate, par, m, 0, O_TARGET - 1);
    442  }
    443 
    444  // Target resampling is done for all particles
    445  for (int par = 0; par < nParticles_; par++)
    446  {
    447  boost::random::uniform_real_distribution<> dist(0, 1);
    448  float randNo = dist(seed_);
    449 
    450  int m = 0;
    451  while (randNo > cumulativeWeights[m])
    452  m++;
    453 
    454  copyParticle(particles_, duplicate, par, m, O_TARGET,
    455  nSubParticleSets_ - 1);
    456  }
    457 
    458  // ROS_DEBUG("End of modifiedMultinomialResampler()");
    459 }
    460 
    461 void ParticleFilter::resample()
    462 {
    463  *iteration_oss << "resample() -> ";
    464 
    465  for (uint r = 0; r < nRobots_; ++r)
    466  {
    467  if (false == robotsUsed_[r])
    468  continue;
    469 
    470  uint o_robot = r * nStatesPerRobot_;
    471 
    472  pdata_t stdX = pfuclt_aux::calc_stdDev<pdata_t>(particles_[o_robot + O_X]);
    473  pdata_t stdY = pfuclt_aux::calc_stdDev<pdata_t>(particles_[o_robot + O_Y]);
    474  pdata_t stdTheta =
    475  pfuclt_aux::calc_stdDev<pdata_t>(particles_[o_robot + O_THETA]);
    476 
    477  state_.robots[r].conf = 1 / (stdX + stdY + stdTheta);
    478 
    479  // ROS_DEBUG("OMNI%d stdX = %f, stdY = %f, stdTheta = %f", r + 1, stdX,
    480  // stdY,
    481  // stdTheta);
    482  }
    483 
    484  // Calc. sum of weights
    485  pdata_t weightSum = std::accumulate(particles_[O_WEIGHT].begin(),
    486  particles_[O_WEIGHT].end(), 0.0);
    487 
    488  // ROS_DEBUG("WeightSum before resampling = %f", weightSum);
    489 
    490  // printWeights("before resampling: ");
    491 
    492  if (weightSum < MIN_WEIGHTSUM)
    493  {
    494  ROS_WARN("Zero weightsum - returning without resampling");
    495 
    496  // Print iteration and state information
    497  *iteration_oss << "FAIL! -> ";
    498 
    499  converged_ = false;
    500  resetWeights(1.0 / nParticles_);
    501  return;
    502  }
    503 
    504  converged_ = true;
    505 
    506  // All resamplers use normalized weights
    507  for (uint p = 0; p < nParticles_; ++p)
    508  particles_[O_WEIGHT][p] = particles_[O_WEIGHT][p] / weightSum;
    509 
    510  modifiedMultinomialResampler(dynamicVariables_.resamplingPercentageToKeep /
    511  100.0);
    512 
    513  // printWeights("after resampling: ");
    514 }
    515 
    516 void ParticleFilter::estimate()
    517 {
    518  *iteration_oss << "estimate() -> ";
    519 
    520  pdata_t weightSum = std::accumulate(particles_[O_WEIGHT].begin(),
    521  particles_[O_WEIGHT].end(), 0.0);
    522 
    523  // ROS_DEBUG("WeightSum when estimating = %f", weightSum);
    524 
    525  subparticles_t normalizedWeights(particles_[O_WEIGHT]);
    526 
    527  // Normalize the weights
    528  for (uint p = 0; p < nParticles_; ++p)
    529  normalizedWeights[p] = normalizedWeights[p] / weightSum;
    530 
    531  if (weightSum < MIN_WEIGHTSUM)
    532  {
    533  *iteration_oss << "DONE without estimating!";
    534 
    535  // Increase standard deviation for target prediction
    536  if (dynamicVariables_.targetRandStddev != TARGET_RAND_STDDEV_LOST)
    537  {
    538  dynamicVariables_.oldTargetRandSTddev =
    539  dynamicVariables_.targetRandStddev;
    540  dynamicVariables_.targetRandStddev = TARGET_RAND_STDDEV_LOST;
    541  }
    542 
    543  // Don't estimate
    544  return;
    545  }
    546 
    547  // Return (if necessary) to old target prediction model stddev
    548  if(dynamicVariables_.targetRandStddev != dynamicVariables_.oldTargetRandSTddev)
    549  dynamicVariables_.targetRandStddev = dynamicVariables_.oldTargetRandSTddev;
    550 
    551  // For each robot
    552  for (uint r = 0; r < nRobots_; ++r)
    553  {
    554  // If the robot isn't playing, skip it
    555  if (false == robotsUsed_[r])
    556  continue;
    557 
    558  uint o_robot = r * nStatesPerRobot_;
    559 
    560  // A vector of weighted means that will be calculated in the next loop
    561  std::vector<double> weightedMeans(nStatesPerRobot_ - 1, 0.0);
    562 
    563  // For theta we will obtain the mean of circular quantities, by converting
    564  // to cartesian coordinates, placing each angle in the unit circle,
    565  // averaging these points and finally converting again to polar
    566  double weightedMeanThetaCartesian[2] = { 0, 0 };
    567 
    568  // ..and each particle
    569  for (uint p = 0; p < nParticles_; ++p)
    570  {
    571  // Accumulate the state proportionally to the particle's normalized weight
    572  for (uint g = 0; g < nStatesPerRobot_ - 1; ++g)
    573  {
    574  weightedMeans[g] += particles_[o_robot + g][p] * normalizedWeights[p];
    575  }
    576 
    577  // Mean of circular quantities for theta
    578  weightedMeanThetaCartesian[O_X] +=
    579  cos(particles_[o_robot + O_THETA][p]) * normalizedWeights[p];
    580  weightedMeanThetaCartesian[O_Y] +=
    581  sin(particles_[o_robot + O_THETA][p]) * normalizedWeights[p];
    582  }
    583 
    584  // Put the angle back in polar coordinates
    585  double weightedMeanThetaPolar =
    586  atan2(weightedMeanThetaCartesian[O_Y], weightedMeanThetaCartesian[O_X]);
    587 
    588  // Save in the robot state
    589  // Can't use easy copy since one is using double precision
    590  state_.robots[r].pose[O_X] = weightedMeans[O_X];
    591  state_.robots[r].pose[O_Y] = weightedMeans[O_Y];
    592  state_.robots[r].pose[O_THETA] = weightedMeanThetaPolar;
    593  }
    594 
    595  // Target weighted means
    596  std::vector<double> targetWeightedMeans(STATES_PER_TARGET, 0.0);
    597 
    598  // For each particle
    599  for (uint p = 0; p < nParticles_; ++p)
    600  {
    601  for (uint t = 0; t < STATES_PER_TARGET; ++t)
    602  {
    603  targetWeightedMeans[t] +=
    604  particles_[O_TARGET + t][p] * normalizedWeights[p];
    605  }
    606  }
    607 
    608  // Update position
    609  // Can't use easy copy since one is using double precision
    610  state_.target.pos[O_TX] = targetWeightedMeans[O_TX];
    611  state_.target.pos[O_TY] = targetWeightedMeans[O_TY];
    612  state_.target.pos[O_TZ] = targetWeightedMeans[O_TZ];
    613 
    614  *iteration_oss << "DONE!";
    615 }
    616 
    617 void ParticleFilter::printWeights(std::string pre)
    618 {
    619  std::ostringstream debug;
    620  debug << "Weights " << pre;
    621  for (uint i = 0; i < nParticles_; ++i)
    622  debug << particles_[O_WEIGHT][i] << " ";
    623 
    624  ROS_DEBUG("%s", debug.str().c_str());
    625 }
    626 
    627 // TODO set different values for position and orientation, targets, etc
    628 // Simple version, use default values - randomize all values between [-10,10]
    629 void ParticleFilter::init()
    630 {
    631  if (initialized_)
    632  return;
    633 
    634  int lvalue = -10;
    635  int rvalue = 10;
    636 
    637  std::vector<double> defRand((nSubParticleSets_ - 1) * 2);
    638 
    639  for (int i = 0; i < defRand.size(); i += 2)
    640  {
    641  defRand[i] = lvalue;
    642  defRand[i + 1] = rvalue;
    643  }
    644 
    645  std::vector<double> defPos((nRobots_ * 2), 0.0);
    646 
    647  // Call the custom function with these values
    648  init(defRand, defPos);
    649 }
    650 
    651 // Overloaded function when using custom values
    652 void ParticleFilter::init(const std::vector<double>& customRandInit,
    653  const std::vector<double>& customPosInit)
    654 {
    655  if (initialized_)
    656  return;
    657 
    658  // Set flag
    659  initialized_ = true;
    660 
    661  bool flag_theta_given = (customPosInit.size() == nRobots_ * 3 &&
    662  customRandInit.size() == nSubParticleSets_ * 3);
    663  size_t numVars =
    664  flag_theta_given ? customRandInit.size() / 3 : customRandInit.size() / 2;
    665 
    666  ROS_INFO("Initializing particle filter");
    667 
    668  // For all subparticle sets except the particle weights
    669  for (int i = 0; i < numVars; ++i)
    670  {
    671  ROS_DEBUG("Values for distribution: %.4f %.4f", customRandInit[2 * i],
    672  customRandInit[2 * i + 1]);
    673 
    674  boost::random::uniform_real_distribution<> dist(customRandInit[2 * i],
    675  customRandInit[2 * i + 1]);
    676 
    677  // Sample a value from the uniform distribution for each particle
    678  for (uint p = 0; p < nParticles_; ++p)
    679  particles_[i][p] = dist(seed_);
    680  }
    681 
    682  // Particle weights init with same weight (1/nParticles)
    683  resetWeights(1.0 / nParticles_);
    684 
    685  // Initialize pose with initial belief
    686  for (uint r = 0; r < nRobots_; ++r)
    687  {
    688  pdata_t tmp[] = { customPosInit[2 * r + O_X], customPosInit[2 * r + O_Y],
    689  -M_PI };
    690  state_.robots[r].pose = std::vector<pdata_t>(tmp, tmp + nStatesPerRobot_);
    691  if (flag_theta_given)
    692  state_.robots[r].pose.push_back(customPosInit[2 * r + O_THETA]);
    693  }
    694 
    695  // State should have the initial belief
    696 
    697  ROS_INFO("Particle filter initialized");
    698 }
    699 
    700 void ParticleFilter::predict(const uint robotNumber, const Odometry odom,
    701  const ros::Time stamp)
    702 {
    703  if (!initialized_)
    704  return;
    705 
    706  *iteration_oss << "predict(OMNI" << robotNumber + 1 << ") -> ";
    707 
    708 #ifdef EVALUATE_TIME_PERFORMANCE
    709  // If this is the main robot, update the odometry time
    710  if (mainRobotID_ == robotNumber)
    711  {
    712  odometryTime_.updateTime(ros::WallTime::now());
    713  iterationEvalTime_ = ros::WallTime::now();
    714  }
    715 #endif
    716 
    717  using namespace boost::random;
    718 
    719  // Variables concerning this robot specifically
    720  int robot_offset = robotNumber * nStatesPerRobot_;
    721  std::vector<float>& alpha = dynamicVariables_.alpha[robotNumber];
    722 
    723  // Determining the propagation of the robot state through odometry
    724  pdata_t deltaRot = atan2(odom.y, odom.x);
    725  pdata_t deltaTrans = sqrt(odom.x * odom.x + odom.y * odom.y);
    726  pdata_t deltaFinalRot = odom.theta - deltaRot;
    727 
    728  // Create an error model based on a gaussian distribution
    729  normal_distribution<> deltaRotEffective(deltaRot, alpha[0] * fabs(deltaRot) +
    730  alpha[1] * deltaTrans);
    731 
    732  normal_distribution<> deltaTransEffective(
    733  deltaTrans,
    734  alpha[2] * deltaTrans + alpha[3] * fabs(deltaRot + deltaFinalRot));
    735 
    736  normal_distribution<> deltaFinalRotEffective(
    737  deltaFinalRot, alpha[0] * fabs(deltaFinalRot) + alpha[1] * deltaTrans);
    738 
    739  for (int i = 0; i < nParticles_; i++)
    740  {
    741  // Rotate to final position
    742  particles_[O_THETA + robot_offset][i] += deltaRotEffective(seed_);
    743 
    744  pdata_t sampleTrans = deltaTransEffective(seed_);
    745 
    746  // Translate to final position
    747  particles_[O_X + robot_offset][i] +=
    748  sampleTrans * cos(particles_[O_THETA + robot_offset][i]);
    749  particles_[O_Y + robot_offset][i] +=
    750  sampleTrans * sin(particles_[O_THETA + robot_offset][i]);
    751 
    752  // Rotate to final position and normalize angle
    753  particles_[O_THETA + robot_offset][i] = angles::normalize_angle(
    754  particles_[O_THETA + robot_offset][i] + deltaFinalRotEffective(seed_));
    755  }
    756 
    757  // Check if we should activate robotRandom
    758  // Only if no landmarks and no target seen
    759  uint nLandmarksSeen = 0;
    760  for (std::vector<LandmarkObservation>::iterator it =
    761  bufLandmarkObservations_[robotNumber].begin();
    762  it != bufLandmarkObservations_[robotNumber].end(); ++it)
    763  {
    764  if (it->found)
    765  nLandmarksSeen++;
    766  }
    767 
    768  if (nLandmarksSeen == 0 && !bufTargetObservations_[robotNumber].found)
    769  {
    770  // Randomize a bit for this robot since it does not see landmarks and target
    771  // isn't seen
    772  boost::random::uniform_real_distribution<> randPar(-0.05, 0.05);
    773 
    774  for (uint p = 0; p < nParticles_; ++p)
    775  {
    776  for (uint s = 0; s < nStatesPerRobot_; ++s)
    777  particles_[robot_offset + s][p] += randPar(seed_);
    778  }
    779  }
    780 
    781  // If this is the main robot, perform one PF-UCLT iteration
    782  if (mainRobotID_ == robotNumber)
    783  {
    784  // Lock mutex
    785  boost::mutex::scoped_lock(mutex_);
    786 
    787  // All the PF-UCLT steps
    788  predictTarget();
    789 
    790 #ifndef DONT_FUSE_ROBOTS
    791  fuseRobots();
    792 #endif
    793 
    794 #ifndef DONT_FUSE_TARGET
    795  fuseTarget();
    796 #endif
    797 
    798 #ifndef DONT_RESAMPLE
    799  resample();
    800 #endif
    801 
    802  estimate();
    803 
    804 #ifdef EVALUATE_TIME_PERFORMANCE
    805  ROS_INFO("(WALL TIME) Odometry analyzed with = %fms",
    806  1e3 * odometryTime_.diff);
    807 
    808  deltaIteration_ = ros::WallTime::now() - iterationEvalTime_;
    809  if (deltaIteration_ > maxDeltaIteration_)
    810  maxDeltaIteration_ = deltaIteration_;
    811 
    812  durationSum += deltaIteration_;
    813  numberIterations++;
    814 
    815  ROS_INFO_STREAM("(WALL TIME) Iteration time: "
    816  << 1e-6 * deltaIteration_.toNSec() << "ms ::: Worst case: "
    817  << 1e-6 * maxDeltaIteration_.toNSec() << "ms ::: Average: "
    818  << 1e-6 * (durationSum.toNSec() / numberIterations) << "s");
    819 #endif
    820 
    821  // ROS_DEBUG("Iteration: %s", iteration_oss->str().c_str());
    822  // Clear ostringstream
    823  iteration_oss->str("");
    824  iteration_oss->clear();
    825 
    826  // Start next iteration
    827  nextIteration();
    828  }
    829 }
    830 
    831 void ParticleFilter::saveAllLandmarkMeasurementsDone(const uint robotNumber)
    832 {
    833  *iteration_oss << "allLandmarks(OMNI" << robotNumber + 1 << ") -> ";
    834 }
    835 
    836 void ParticleFilter::saveAllTargetMeasurementsDone(const uint robotNumber)
    837 {
    838  *iteration_oss << "allTargets(OMNI" << robotNumber + 1 << ") -> ";
    839 }
    840 
    841 PFPublisher::PFPublisher(struct ParticleFilter::PFinitData& data,
    842  struct PublishData publishData)
    843  : ParticleFilter(data), pubData(publishData),
    844  robotBroadcasters(data.nRobots), particleStdPublishers_(data.nRobots),
    845  robotGTPublishers_(data.nRobots), robotEstimatePublishers_(data.nRobots)
    846 {
    847  // Prepare particle message
    848  resize_particles(nParticles_);
    849 
    850  // Subscribe to GT data
    851  GT_sub_ = nh_.subscribe<read_omni_dataset::LRMGTData>(
    852  "/gtData_4robotExp", 10,
    853  boost::bind(&PFPublisher::gtDataCallback, this, _1));
    854 
    855  // Other publishers
    856  estimatePublisher_ =
    857  nh_.advertise<read_omni_dataset::Estimate>("/pfuclt_estimate", 100);
    858  particlePublisher_ =
    859  nh_.advertise<pfuclt_omni_dataset::particles>("/pfuclt_particles", 10);
    860 
    861  // Rviz visualization publishers
    862  // Target
    863  targetEstimatePublisher_ =
    864  nh_.advertise<geometry_msgs::PointStamped>("/target/estimatedPose", 1000);
    865  targetGTPublisher_ =
    866  nh_.advertise<geometry_msgs::PointStamped>("/target/gtPose", 1000);
    867  targetParticlePublisher_ =
    868  nh_.advertise<sensor_msgs::PointCloud>("/target/particles", 10);
    869 
    870  // target observations publisher
    871  targetObservationsPublisher_ =
    872  nh_.advertise<visualization_msgs::Marker>("/targetObservations", 100);
    873 
    874  // Robots
    875  for (uint r = 0; r < nRobots_; ++r)
    876  {
    877  std::ostringstream robotName;
    878  robotName << "omni" << r + 1;
    879 
    880  // particle publisher
    881  particleStdPublishers_[r] = nh_.advertise<geometry_msgs::PoseArray>(
    882  "/" + robotName.str() + "/particles", 1000);
    883 
    884  // estimated state
    885  robotEstimatePublishers_[r] = nh_.advertise<geometry_msgs::PoseStamped>(
    886  "/" + robotName.str() + "/estimatedPose", 1000);
    887 
    888  // build estimate msg
    889  msg_estimate_.robotEstimates.push_back(geometry_msgs::Pose());
    890  msg_estimate_.targetVisibility.push_back(false);
    891 
    892 // ground truth publisher, in the simulation package we have PoseStamped
    893 #ifndef USE_NEWER_READ_OMNI_PACKAGE
    894  robotGTPublishers_[r] = nh_.advertise<geometry_msgs::PointStamped>(
    895  "/" + robotName.str() + "/gtPose", 1000);
    896 #else
    897  robotGTPublishers_[r] = nh_.advertise<geometry_msgs::PoseStamped>(
    898  "/" + robotName.str() + "/gtPose", 1000);
    899 #endif
    900  }
    901 
    902  ROS_INFO("It's a publishing particle filter!");
    903 }
    904 
    905 void PFPublisher::publishParticles()
    906 {
    907  // The eval package would rather have the particles in the format
    908  // particle->subparticle instead, so we have to inverse it
    909  for (uint p = 0; p < nParticles_; ++p)
    910  {
    911  for (uint s = 0; s < nSubParticleSets_; ++s)
    912  {
    913  msg_particles_.particles[p].particle[s] = particles_[s][p];
    914  }
    915  }
    916 
    917  // Send it!
    918  particlePublisher_.publish(msg_particles_);
    919 
    920 #ifdef PUBLISH_PTCLS
    921  // Also send as a series of PoseArray messages for each robot
    922  for (uint r = 0; r < nRobots_; ++r)
    923  {
    924  if (false == robotsUsed_[r])
    925  continue;
    926 
    927  uint o_robot = r * nStatesPerRobot_;
    928  geometry_msgs::PoseArray msgStd_particles;
    929  msgStd_particles.header.stamp = savedLatestObservationTime_;
    930  msgStd_particles.header.frame_id = "world";
    931 
    932  for (uint p = 0; p < nParticles_; ++p)
    933  {
    934  tf2::Quaternion tf2q(tf2::Vector3(0, 0, 1),
    935  particles_[o_robot + O_THETA][p]);
    936  tf2::Transform tf2t(tf2q, tf2::Vector3(particles_[o_robot + O_X][p],
    937  particles_[o_robot + O_Y][p],
    938  pubData.robotHeight));
    939 
    940  geometry_msgs::Pose pose;
    941  tf2::toMsg(tf2t, pose);
    942  msgStd_particles.poses.insert(msgStd_particles.poses.begin(), pose);
    943  }
    944 
    945  particleStdPublishers_[r].publish(msgStd_particles);
    946  }
    947 
    948  // Send target particles as a pointcloud
    949  sensor_msgs::PointCloud target_particles;
    950  target_particles.header.stamp = ros::Time::now();
    951  target_particles.header.frame_id = "world";
    952 
    953  for (uint p = 0; p < nParticles_; ++p)
    954  {
    955  geometry_msgs::Point32 point;
    956  point.x = particles_[O_TARGET + O_TX][p];
    957  point.y = particles_[O_TARGET + O_TY][p];
    958  point.z = particles_[O_TARGET + O_TZ][p];
    959 
    960  target_particles.points.insert(target_particles.points.begin(), point);
    961  }
    962  targetParticlePublisher_.publish(target_particles);
    963 
    964 #endif
    965 }
    966 
    967 void PFPublisher::publishRobotStates()
    968 {
    969  // This is pretty much copy and paste
    970  for (uint r = 0; r < nRobots_; ++r)
    971  {
    972  if (false == robotsUsed_[r])
    973  continue;
    974 
    975  std::ostringstream robotName;
    976  robotName << "omni" << r + 1;
    977 
    978  msg_estimate_.header.stamp = savedLatestObservationTime_;
    979 
    980  ParticleFilter::State::robotState_s& pfState = state_.robots[r];
    981  geometry_msgs::Pose& rosState = msg_estimate_.robotEstimates[r];
    982 
    983  // Create from Euler angles
    984  tf2::Quaternion tf2q(tf2::Vector3(0, 0, 1), pfState.pose[O_THETA]);
    985  tf2::Transform tf2t(tf2q, tf2::Vector3(pfState.pose[O_X], pfState.pose[O_Y],
    986  pubData.robotHeight));
    987 
    988  // Transform to our message type
    989  tf2::toMsg(tf2t, rosState);
    990 
    991 #ifdef BROADCAST_TF_AND_POSES
    992  // TF2 broadcast
    993  geometry_msgs::TransformStamped estTransf;
    994  estTransf.header.stamp = savedLatestObservationTime_;
    995  estTransf.header.frame_id = "world";
    996  estTransf.child_frame_id = robotName.str() + "est";
    997  estTransf.transform = tf2::toMsg(tf2t);
    998  robotBroadcasters[r].sendTransform(estTransf);
    999 
    1000  // Publish as a standard pose msg using the previous TF
    1001  geometry_msgs::PoseStamped estPose;
    1002  estPose.header.stamp = estTransf.header.stamp;
    1003  estPose.header.frame_id = estTransf.child_frame_id;
    1004  // Pose is everything at 0 as it's the same as the TF
    1005 
    1006  robotEstimatePublishers_[r].publish(estPose);
    1007 #endif
    1008  }
    1009 }
    1010 
    1011 void PFPublisher::publishTargetState()
    1012 {
    1013  msg_estimate_.targetEstimate.header.frame_id = "world";
    1014 
    1015  // Our custom message type
    1016  msg_estimate_.targetEstimate.x = state_.target.pos[O_TX];
    1017  msg_estimate_.targetEstimate.y = state_.target.pos[O_TY];
    1018  msg_estimate_.targetEstimate.z = state_.target.pos[O_TZ];
    1019  msg_estimate_.targetEstimate.found = state_.target.seen;
    1020 
    1021  for (uint r = 0; r < nRobots_; ++r)
    1022  {
    1023  msg_estimate_.targetVisibility[r] = bufTargetObservations_[r].found;
    1024  }
    1025 
    1026 #ifdef BROADCAST_TF_AND_POSES
    1027  // Publish as a standard pose msg using the previous TF
    1028  geometry_msgs::PointStamped estPoint;
    1029  estPoint.header.stamp = ros::Time::now();
    1030  estPoint.header.frame_id = "world";
    1031  estPoint.point.x = state_.target.pos[O_TX];
    1032  estPoint.point.y = state_.target.pos[O_TY];
    1033  estPoint.point.z = state_.target.pos[O_TZ];
    1034 
    1035  targetEstimatePublisher_.publish(estPoint);
    1036 #endif
    1037 }
    1038 
    1039 void PFPublisher::publishEstimate()
    1040 {
    1041  // msg_estimate_ has been built in other methods (publishRobotStates and
    1042  // publishTargetState)
    1043  msg_estimate_.computationTime = deltaIteration_.toNSec() * 1e-9;
    1044  msg_estimate_.converged = converged_;
    1045 
    1046  estimatePublisher_.publish(msg_estimate_);
    1047 }
    1048 
    1049 void PFPublisher::publishTargetObservations()
    1050 {
    1051  static std::vector<bool> previouslyPublished(nRobots_, false);
    1052 
    1053  for (uint r = 0; r < nRobots_; ++r)
    1054  {
    1055  // Publish as rviz standard visualization types (an arrow)
    1056  visualization_msgs::Marker marker;
    1057 
    1058  if (!robotsUsed_[r])
    1059  continue;
    1060 
    1061  // Robot and observation
    1062  std::ostringstream robotName;
    1063  robotName << "omni" << r + 1;
    1064 
    1065  TargetObservation& obs = bufTargetObservations_[r];
    1066 
    1067  // If not found, let's just publish that one time
    1068  if (obs.found == false)
    1069  {
    1070  if (previouslyPublished[r])
    1071  continue;
    1072  else
    1073  previouslyPublished[r] = true;
    1074  }
    1075  else
    1076  previouslyPublished[r] = false;
    1077 
    1078  marker.header.frame_id = robotName.str() + "est";
    1079  marker.header.stamp = savedLatestObservationTime_;
    1080 
    1081  // Setting the same namespace and id will overwrite the previous marker
    1082  marker.ns = robotName.str() + "_target_observations";
    1083  marker.id = 0;
    1084 
    1085  marker.type = visualization_msgs::Marker::ARROW;
    1086  marker.action = visualization_msgs::Marker::ADD;
    1087 
    1088  // Arrow draw
    1089  geometry_msgs::Point tail;
    1090  tail.x = tail.y = tail.z = 0.0;
    1091  // Point at index 0 - tail tip - is 0,0,0 because we're in the local frame
    1092  marker.points.push_back(tail);
    1093  // Point at index 1 - head - is the target pose in the local frame
    1094  geometry_msgs::Point head;
    1095  head.x = obs.x;
    1096  head.y = obs.y;
    1097  head.z = obs.z - pubData.robotHeight;
    1098  marker.points.push_back(head);
    1099 
    1100  marker.scale.x = 0.01;
    1101  marker.scale.y = 0.03;
    1102  marker.scale.z = 0.05;
    1103 
    1104  // Colour
    1105  marker.color.a = 1;
    1106  if (obs.found)
    1107  marker.color.r = marker.color.g = marker.color.b = 0.6;
    1108  else
    1109  {
    1110  marker.color.r = 1.0;
    1111  marker.color.g = marker.color.b = 0.0;
    1112  }
    1113 
    1114  // Other
    1115  marker.lifetime = ros::Duration(2);
    1116 
    1117  // Send it
    1118  targetObservationsPublisher_.publish(marker);
    1119  }
    1120 }
    1121 
    1122 void PFPublisher::publishGTData()
    1123 {
    1124  geometry_msgs::PointStamped gtPoint;
    1125  gtPoint.header.stamp = savedLatestObservationTime_;
    1126  gtPoint.header.frame_id = "world";
    1127 
    1128 #ifdef USE_NEWER_READ_OMNI_PACKAGE
    1129  geometry_msgs::PoseStamped gtPose;
    1130  gtPose.header.stamp = savedLatestObservationTime_;
    1131  gtPose.header.frame_id = "world";
    1132 
    1133  for (uint r = 0; r < nRobots_; ++r)
    1134  {
    1135  gtPose.pose = msg_GT_.poseOMNI[r].pose;
    1136  robotGTPublishers_[r].publish(gtPose);
    1137  }
    1138 
    1139 #else
    1140  if (true == robotsUsed_[0])
    1141  {
    1142  gtPoint.point = msg_GT_.poseOMNI1.pose.position;
    1143  robotGTPublishers_[0].publish(gtPoint);
    1144  }
    1145 
    1146  if (true == robotsUsed_[2])
    1147  {
    1148  gtPoint.point = msg_GT_.poseOMNI3.pose.position;
    1149  robotGTPublishers_[2].publish(gtPoint);
    1150  }
    1151 
    1152  if (true == robotsUsed_[3])
    1153  {
    1154  gtPoint.point = msg_GT_.poseOMNI4.pose.position;
    1155  robotGTPublishers_[3].publish(gtPoint);
    1156  }
    1157 
    1158  if (true == robotsUsed_[4])
    1159  {
    1160  gtPoint.point = msg_GT_.poseOMNI5.pose.position;
    1161  robotGTPublishers_[4].publish(gtPoint);
    1162  }
    1163 #endif
    1164 
    1165  // Publish for the target as well
    1166  if (msg_GT_.orangeBall3DGTposition.found)
    1167  {
    1168  gtPoint.point.x = msg_GT_.orangeBall3DGTposition.x;
    1169  gtPoint.point.y = msg_GT_.orangeBall3DGTposition.y;
    1170  gtPoint.point.z = msg_GT_.orangeBall3DGTposition.z;
    1171  targetGTPublisher_.publish(gtPoint);
    1172  }
    1173 }
    1174 
    1175 void PFPublisher::gtDataCallback(
    1176  const read_omni_dataset::LRMGTData::ConstPtr& gtMsgReceived)
    1177 {
    1178  msg_GT_ = *gtMsgReceived;
    1179 }
    1180 
    1181 void PFPublisher::nextIteration()
    1182 {
    1183  // Call the base class method
    1184  ParticleFilter::nextIteration();
    1185 
    1186  // Publish the particles first
    1187  publishParticles();
    1188 
    1189  // Publish robot states
    1190  publishRobotStates();
    1191 
    1192  // Publish target state
    1193  publishTargetState();
    1194 
    1195  // Publish estimate
    1196  publishEstimate();
    1197 
    1198  // Publish robot-to-target lines
    1199  publishTargetObservations();
    1200 
    1201 // Publish GT data if we have received any callback
    1202 #ifdef USE_NEWER_READ_OMNI_PACKAGE
    1203  if (!msg_GT_.poseOMNI.empty())
    1204  publishGTData();
    1205 #else
    1206  publishGTData();
    1207 #endif
    1208 }
    1209 
    1210 ParticleFilter::dynamicVariables_s::dynamicVariables_s(ros::NodeHandle& nh,
    1211  const uint nRobots)
    1212  : alpha(nRobots, std::vector<float>(NUM_ALPHAS)), firstCallback(true)
    1213 {
    1214  // Get node parameters, assume they exist
    1215  readParam<double>(nh, "percentage_to_keep", resamplingPercentageToKeep);
    1216 
    1217  readParam<int>(nh, "particles", nParticles);
    1218 
    1219  readParam<double>(nh, "predict_model_stddev", targetRandStddev);
    1220  oldTargetRandSTddev = targetRandStddev;
    1221 
    1222  // Get alpha values for some robots (hard-coded for our 4 robots..)
    1223  for (uint r = 0; r < nRobots; ++r)
    1224  {
    1225  std::string paramName =
    1226  "OMNI" + boost::lexical_cast<std::string>(r + 1) + "_alpha";
    1227 
    1228  std::string str;
    1229  if (readParam<std::string>(nh, paramName, str))
    1230  fill_alpha(r, str); // value was provided
    1231  else
    1232  fill_alpha(r, "0.015,0.1,0.5,0.001"); // default
    1233  }
    1234 }
    1235 
    1236 void ParticleFilter::dynamicVariables_s::fill_alpha(const uint robot,
    1237  const std::string& str)
    1238 {
    1239  // Tokenize the string of comma-separated values
    1240  std::istringstream iss(str);
    1241  std::string token;
    1242  uint tokenCount = 0;
    1243  while (std::getline(iss, token, ','))
    1244  {
    1245  if (tokenCount >= NUM_ALPHAS)
    1246  break;
    1247 
    1248  std::istringstream tokss(token);
    1249  float val;
    1250  tokss >> val;
    1251 
    1252  if (val < 0)
    1253  {
    1254  ROS_WARN("Invalid alpha value %f", val);
    1255  continue;
    1256  }
    1257 
    1258  alpha[robot][tokenCount] = val;
    1259  ++tokenCount;
    1260  }
    1261 
    1262  ROS_WARN_COND(tokenCount != NUM_ALPHAS,
    1263  "Number of alpha values provided is not the required number %d",
    1264  NUM_ALPHAS);
    1265 }
    1266 
    1267 // end of namespace pfuclt_ptcls
    1268 }
    pfuclt_ptcls::ParticleFilter::resample
    void resample()
    resample - the resampling step
    Definition: pfuclt_particles.cpp:461
    +
    pfuclt_ptcls::ParticleFilter::deltaIteration_
    ros::WallDuration deltaIteration_
    Definition: pfuclt_particles.h:227
    +
    pfuclt_particles.h
    +
    pfuclt_ptcls::PFPublisher::msg_estimate_
    read_omni_dataset::Estimate msg_estimate_
    Definition: pfuclt_particles.h:608
    +
    pfuclt_ptcls::PFPublisher::robotGTPublishers_
    std::vector< ros::Publisher > robotGTPublishers_
    Definition: pfuclt_particles.h:602
    +
    pfuclt_ptcls::ParticleFilter::particles_
    particles_t particles_
    Definition: pfuclt_particles.h:219
    +
    pfuclt_ptcls::ParticleFilter::numberIterations
    uint16_t numberIterations
    Definition: pfuclt_particles.h:229
    +
    pfuclt_ptcls::targetObs_s::covXX
    double covXX
    Definition: pfuclt_particles.h:84
    +
    pfuclt_ptcls::ParticleFilter::nh_
    ros::NodeHandle & nh_
    Definition: pfuclt_particles.h:209
    +
    pfuclt_ptcls::PFPublisher::resize_particles
    void resize_particles(const uint n)
    resize_particles - change to a different number of particles and resize the publishing message ...
    Definition: pfuclt_particles.h:582
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::firstCallback
    bool firstCallback
    Definition: pfuclt_particles.h:106
    +
    pfuclt_ptcls::ParticleFilter
    Definition: pfuclt_particles.h:96
    +
    pfuclt_ptcls::ParticleFilter::O_TARGET
    uint O_TARGET
    Definition: pfuclt_particles.h:348
    +
    pfuclt_ptcls::ParticleFilter::state_
    struct State state_
    Definition: pfuclt_particles.h:230
    +
    pfuclt_ptcls::PFPublisher::targetGTPublisher_
    ros::Publisher targetGTPublisher_
    Definition: pfuclt_particles.h:599
    +
    pfuclt_ptcls::PFPublisher::GT_sub_
    ros::Subscriber GT_sub_
    Definition: pfuclt_particles.h:598
    +
    pfuclt_ptcls::ParticleFilter::mutex_
    boost::mutex mutex_
    Definition: pfuclt_particles.h:99
    +
    O_X
    #define O_X
    Definition: pfuclt_particles.h:33
    +
    pfuclt_aux::DESC
    Definition: pfuclt_aux.h:23
    +
    pfuclt_ptcls::ParticleFilter::resize_particles
    virtual void resize_particles(const uint n)
    resize_particles - change to a different number of particles
    Definition: pfuclt_particles.h:327
    +
    pfuclt_ptcls::ParticleFilter::fuseRobots
    void fuseRobots()
    fuseRobots - fuse robot states step
    Definition: pfuclt_particles.cpp:154
    +
    pfuclt_ptcls::ParticleFilter::nSubParticleSets_
    const uint nSubParticleSets_
    Definition: pfuclt_particles.h:217
    +
    O_TX
    #define O_TX
    Definition: pfuclt_particles.h:37
    +
    pfuclt_ptcls::PFPublisher::robotBroadcasters
    std::vector< tf2_ros::TransformBroadcaster > robotBroadcasters
    Definition: pfuclt_particles.h:610
    +
    pfuclt_ptcls::PFPublisher::publishParticles
    void publishParticles()
    Definition: pfuclt_particles.cpp:905
    +
    STATES_PER_TARGET
    #define STATES_PER_TARGET
    Definition: pfuclt_particles.h:30
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s::pos
    std::vector< pdata_t > pos
    Definition: pfuclt_particles.h:147
    +
    pfuclt_ptcls::odometry_s::y
    double y
    Definition: pfuclt_particles.h:67
    +
    pfuclt_ptcls::ParticleFilter::fuseTarget
    void fuseTarget()
    fuseTarget - fuse target state step
    Definition: pfuclt_particles.cpp:287
    +
    pfuclt_ptcls::ParticleFilter::weightComponents_
    particles_t weightComponents_
    Definition: pfuclt_particles.h:220
    +
    pfuclt_ptcls::ParticleFilter::odometryTime_
    TimeEval odometryTime_
    Definition: pfuclt_particles.h:225
    +
    pfuclt_ptcls::ParticleFilter::seed_
    RNGType seed_
    Definition: pfuclt_particles.h:221
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::dynamicVariables_s
    dynamicVariables_s(ros::NodeHandle &nh, const uint nRobots)
    Definition: pfuclt_particles.cpp:1210
    +
    O_Y
    #define O_Y
    Definition: pfuclt_particles.h:34
    +
    pfuclt_ptcls::landmarkObs_s::covYY
    double covYY
    Definition: pfuclt_particles.h:75
    +
    pfuclt_ptcls::targetObs_s::found
    bool found
    Definition: pfuclt_particles.h:81
    +
    pfuclt_ptcls::ParticleFilter::O_WEIGHT
    uint O_WEIGHT
    Definition: pfuclt_particles.h:348
    +
    TARGET_RAND_MEAN
    #define TARGET_RAND_MEAN
    Definition: pfuclt_particles.h:43
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::nParticles
    int nParticles
    Definition: pfuclt_particles.h:107
    +
    pfuclt_ptcls::ParticleFilter::converged_
    bool converged_
    Definition: pfuclt_particles.h:232
    +
    pfuclt_ptcls::PFPublisher::publishRobotStates
    void publishRobotStates()
    Definition: pfuclt_particles.cpp:967
    +
    O_TY
    #define O_TY
    Definition: pfuclt_particles.h:38
    +
    pfuclt_ptcls::PFPublisher::PublishData
    Definition: pfuclt_particles.h:564
    +
    pfuclt_ptcls::PFPublisher::robotEstimatePublishers_
    std::vector< ros::Publisher > robotEstimatePublishers_
    Definition: pfuclt_particles.h:603
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s::seen
    bool seen
    Definition: pfuclt_particles.h:148
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::resamplingPercentageToKeep
    double resamplingPercentageToKeep
    Definition: pfuclt_particles.h:108
    +
    pfuclt_ptcls::ParticleFilter::printWeights
    void printWeights(std::string pre)
    printWeights
    Definition: pfuclt_particles.cpp:617
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s::pose
    std::vector< pdata_t > pose
    Definition: pfuclt_particles.h:134
    +
    pfuclt_ptcls::targetObs_s::z
    double z
    Definition: pfuclt_particles.h:82
    +
    pfuclt_ptcls::ParticleFilter::PFinitData
    The PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleF...
    Definition: pfuclt_particles.h:173
    +
    pfuclt_ptcls::PFPublisher::msg_particles_
    pfuclt_omni_dataset::particles msg_particles_
    Definition: pfuclt_particles.h:607
    +
    pfuclt_ptcls::ParticleFilter::iterationEvalTime_
    ros::WallTime iterationEvalTime_
    Definition: pfuclt_particles.h:226
    +
    pfuclt_ptcls::landmarkObs_s::y
    double y
    Definition: pfuclt_particles.h:73
    +
    pfuclt_ptcls::ParticleFilter::durationSum
    ros::WallDuration durationSum
    Definition: pfuclt_particles.h:228
    +
    pfuclt_ptcls::ParticleFilter::copyParticle
    void copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From)
    copyParticle - copies a whole particle from one particle set to another
    Definition: pfuclt_particles.h:243
    +
    pfuclt_ptcls::PFPublisher::targetParticlePublisher_
    ros::Publisher targetParticlePublisher_
    Definition: pfuclt_particles.h:599
    +
    pfuclt_ptcls::PFPublisher::gtDataCallback
    void gtDataCallback(const read_omni_dataset::LRMGTData::ConstPtr &)
    gtDataCallback - callback of ground truth data
    Definition: pfuclt_particles.cpp:1175
    +
    pfuclt_ptcls::ParticleFilter::bufLandmarkObservations_
    std::vector< std::vector< LandmarkObservation > > bufLandmarkObservations_
    Definition: pfuclt_particles.h:223
    +
    NUM_ALPHAS
    #define NUM_ALPHAS
    Definition: pfuclt_particles.h:27
    +
    pfuclt_ptcls::ParticleFilter::nRobots_
    const uint nRobots_
    Definition: pfuclt_particles.h:215
    +
    pfuclt_ptcls::ParticleFilter::bufTargetObservations_
    std::vector< TargetObservation > bufTargetObservations_
    Definition: pfuclt_particles.h:224
    +
    TARGET_RAND_STDDEV_LOST
    #define TARGET_RAND_STDDEV_LOST
    Definition: pfuclt_particles.h:44
    +
    pfuclt_ptcls::odometry_s::theta
    double theta
    Definition: pfuclt_particles.h:67
    +
    pfuclt_ptcls::ParticleFilter::predictTarget
    void predictTarget()
    predictTarget - predict target state step
    Definition: pfuclt_particles.cpp:129
    +
    pfuclt_ptcls::ParticleFilter::size
    std::size_t size()
    size - interface to the size of the particle filter
    Definition: pfuclt_particles.h:466
    +
    pfuclt_ptcls::PFPublisher::publishEstimate
    void publishEstimate()
    Definition: pfuclt_particles.cpp:1039
    +
    pfuclt_ptcls::PFPublisher::publishTargetObservations
    void publishTargetObservations()
    Definition: pfuclt_particles.cpp:1049
    +
    pfuclt_ptcls::ParticleFilter::maxDeltaIteration_
    ros::WallDuration maxDeltaIteration_
    Definition: pfuclt_particles.h:227
    +
    pfuclt_ptcls::PFPublisher::PublishData::robotHeight
    float robotHeight
    Definition: pfuclt_particles.h:566
    +
    pfuclt_aux::timeEval_s::updateTime
    double updateTime(ros::Time t)
    updateTime - adds the newest time available to the struct and returns the time difference ...
    Definition: pfuclt_aux.h:185
    +
    pfuclt_ptcls::ParticleFilter::initialized_
    bool initialized_
    Definition: pfuclt_particles.h:222
    +
    pfuclt_ptcls::PFPublisher::msg_GT_
    read_omni_dataset::LRMGTData msg_GT_
    Definition: pfuclt_particles.h:606
    +
    pfuclt_ptcls::ParticleFilter::robotsUsed_
    const std::vector< bool > & robotsUsed_
    Definition: pfuclt_particles.h:213
    +
    pfuclt_ptcls::ParticleFilter::nParticles_
    uint nParticles_
    Definition: pfuclt_particles.h:210
    +
    pfuclt_ptcls::ParticleFilter::latestObservationTime_
    ros::Time latestObservationTime_
    Definition: pfuclt_particles.h:231
    +
    pfuclt_ptcls::PFPublisher::particlePublisher_
    ros::Publisher particlePublisher_
    Definition: pfuclt_particles.h:599
    +
    pfuclt_ptcls::ParticleFilter::mainRobotID_
    const uint mainRobotID_
    Definition: pfuclt_particles.h:211
    +
    pfuclt_ptcls::subparticles_t
    std::vector< pdata_t > subparticles_t
    Definition: pfuclt_particles.h:90
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s
    The robotState_s struct - saves information on the belief of a robot&#39;s state.
    Definition: pfuclt_particles.h:132
    +
    pfuclt_ptcls::ParticleFilter::landmarksMap_
    const std::vector< Landmark > & landmarksMap_
    Definition: pfuclt_particles.h:212
    +
    pfuclt_ptcls::ParticleFilter::State::robots
    std::vector< RobotState > robots
    Definition: pfuclt_particles.h:139
    +
    pfuclt_ptcls::odometry_s
    Definition: pfuclt_particles.h:65
    +
    pfuclt_ptcls::landmarkObs_s
    Definition: pfuclt_particles.h:70
    +
    pfuclt_ptcls::targetObs_s
    Definition: pfuclt_particles.h:79
    +
    pfuclt_ptcls::PFPublisher::publishTargetState
    void publishTargetState()
    Definition: pfuclt_particles.cpp:1011
    +
    pfuclt_ptcls::ParticleFilter::spreadTargetParticlesSphere
    void spreadTargetParticlesSphere(float particlesRatio, pdata_t center[3], float radius)
    spreadTargetParticlesSphere - spread a percentage of the target particle in a sphere around center ...
    Definition: pfuclt_particles.cpp:114
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::alpha
    std::vector< std::vector< float > > alpha
    Definition: pfuclt_particles.h:111
    +
    pfuclt_ptcls::ParticleFilter::ParticleFilter
    ParticleFilter(struct PFinitData &data)
    ParticleFilter - constructor.
    Definition: pfuclt_particles.cpp:29
    +
    O_THETA
    #define O_THETA
    Definition: pfuclt_particles.h:35
    +
    pfuclt_ptcls::ParticleFilter::State::target
    struct pfuclt_ptcls::ParticleFilter::State::targetState_s target
    +
    pfuclt_ptcls::ParticleFilter::dynamicServer_
    dynamic_reconfigure::Server< pfuclt_omni_dataset::DynamicConfig > dynamicServer_
    Definition: pfuclt_particles.h:101
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::targetRandStddev
    double targetRandStddev
    Definition: pfuclt_particles.h:109
    +
    pfuclt_ptcls::targetObs_s::covYY
    double covYY
    Definition: pfuclt_particles.h:84
    +
    pfuclt_ptcls::ParticleFilter::targetIterationTime_
    TimeEval targetIterationTime_
    Definition: pfuclt_particles.h:225
    +
    pfuclt_ptcls::ParticleFilter::estimate
    void estimate()
    estimate - state estimation through weighted means of particle weights
    Definition: pfuclt_particles.cpp:516
    +
    pfuclt_ptcls::ParticleFilter::nStatesPerRobot_
    const uint nStatesPerRobot_
    Definition: pfuclt_particles.h:216
    +
    pfuclt_ptcls::ParticleFilter::saveAllTargetMeasurementsDone
    void saveAllTargetMeasurementsDone(const uint robotNumber)
    saveAllTargetMeasurementsDone - call this function when all target measurements have been performed b...
    Definition: pfuclt_particles.cpp:836
    +
    pfuclt_ptcls::PFPublisher::particleStdPublishers_
    std::vector< ros::Publisher > particleStdPublishers_
    Definition: pfuclt_particles.h:601
    +
    pfuclt_ptcls::ParticleFilter::saveAllLandmarkMeasurementsDone
    void saveAllLandmarkMeasurementsDone(const uint robotNumber)
    saveAllLandmarkMeasurementsDone - call this function when all landmark measurements have been perform...
    Definition: pfuclt_particles.cpp:831
    +
    O_TZ
    #define O_TZ
    Definition: pfuclt_particles.h:39
    +
    pfuclt_ptcls::ParticleFilter::init
    void init()
    init - initialize the particle filter set with the default randomized values
    Definition: pfuclt_particles.cpp:629
    +
    pfuclt_ptcls::ParticleFilter::nextIteration
    virtual void nextIteration()
    nextIteration - perform final steps before next iteration
    Definition: pfuclt_particles.h:321
    +
    pfuclt_ptcls::ParticleFilter::resetWeights
    void resetWeights(pdata_t val)
    resetWeights - assign the value val to all particle weights
    Definition: pfuclt_particles.h:270
    +
    pfuclt_ptcls::PFPublisher::nextIteration
    void nextIteration()
    nextIteration - extends the base class method to add the ROS publishing
    Definition: pfuclt_particles.cpp:1181
    +
    pfuclt_ptcls::ParticleFilter::predict
    void predict(const uint robotNumber, const Odometry odom, const ros::Time stamp)
    predict - prediction step in the particle filter set with the received odometry
    Definition: pfuclt_particles.cpp:700
    +
    pfuclt_ptcls
    Definition: pfuclt_particles.h:55
    +
    pfuclt_ptcls::particles_t
    std::vector< subparticles_t > particles_t
    Definition: pfuclt_particles.h:91
    +
    pfuclt_ptcls::targetObs_s::x
    double x
    Definition: pfuclt_particles.h:82
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::fill_alpha
    void fill_alpha(const uint robot, const std::string &str)
    Definition: pfuclt_particles.cpp:1236
    +
    pfuclt_ptcls::PFPublisher::PFPublisher
    PFPublisher(struct ParticleFilter::PFinitData &data, struct PublishData publishData)
    PFPublisher - constructor.
    Definition: pfuclt_particles.cpp:841
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_
    struct pfuclt_ptcls::ParticleFilter::dynamicVariables_s dynamicVariables_
    +
    pfuclt_ptcls::PFPublisher::estimatePublisher_
    ros::Publisher estimatePublisher_
    Definition: pfuclt_particles.h:599
    +
    pfuclt_ptcls::targetObs_s::y
    double y
    Definition: pfuclt_particles.h:82
    +
    pfuclt_ptcls::PFPublisher::targetObservationsPublisher_
    ros::Publisher targetObservationsPublisher_
    Definition: pfuclt_particles.h:604
    +
    MIN_WEIGHTSUM
    #define MIN_WEIGHTSUM
    Definition: pfuclt_particles.h:51
    +
    pfuclt_ptcls::PFPublisher::targetEstimatePublisher_
    ros::Publisher targetEstimatePublisher_
    Definition: pfuclt_particles.h:599
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::oldTargetRandSTddev
    double oldTargetRandSTddev
    Definition: pfuclt_particles.h:110
    +
    pfuclt_ptcls::landmarkObs_s::covXX
    double covXX
    Definition: pfuclt_particles.h:75
    +
    pfuclt_ptcls::odometry_s::x
    double x
    Definition: pfuclt_particles.h:67
    +
    pfuclt_ptcls::ParticleFilter::nLandmarks_
    const uint nLandmarks_
    Definition: pfuclt_particles.h:218
    +
    pfuclt_ptcls::ParticleFilter::dynamicReconfigureCallback
    void dynamicReconfigureCallback(pfuclt_omni_dataset::DynamicConfig &)
    dynamicReconfigureCallback - Dynamic reconfigure callback for dynamically setting variables during ru...
    Definition: pfuclt_particles.cpp:62
    +
    pfuclt_ptcls::ParticleFilter::iteration_oss
    boost::shared_ptr< std::ostringstream > iteration_oss
    Definition: pfuclt_particles.h:347
    +
    pfuclt_ptcls::pdata_t
    float pdata_t
    Definition: pfuclt_particles.h:60
    +
    pfuclt_ptcls::PFPublisher::pubData
    struct PublishData pubData
    Definition: pfuclt_particles.h:612
    +
    pfuclt_aux::timeEval_s::diff
    double diff
    Definition: pfuclt_aux.h:171
    +
    pfuclt_ptcls::PFPublisher::publishGTData
    void publishGTData()
    Definition: pfuclt_particles.cpp:1122
    +
    pfuclt_ptcls::ParticleFilter::savedLatestObservationTime_
    ros::Time savedLatestObservationTime_
    Definition: pfuclt_particles.h:231
    +
    pfuclt_ptcls::landmarkObs_s::x
    double x
    Definition: pfuclt_particles.h:73
    +
    pfuclt_ptcls::ParticleFilter::modifiedMultinomialResampler
    void modifiedMultinomialResampler(uint startAt)
    modifiedMultinomialResampler - a costly resampler that keeps 50% of the particles and implements the ...
    Definition: pfuclt_particles.cpp:413

    pfuclt_omni_dataset
    Author(s):
    -autogenerated on Mon Jul 3 2017 15:58:35 +autogenerated on Mon Jul 3 2017 16:11:29
    diff --git a/doc/html/c++/pfuclt__particles_8h.html b/doc/html/c++/pfuclt__particles_8h.html new file mode 100644 index 0000000..e0034f7 --- /dev/null +++ b/doc/html/c++/pfuclt__particles_8h.html @@ -0,0 +1,351 @@ + +pfuclt_omni_dataset: pfuclt_particles.h File Reference + + + + + + + + +
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    +Classes | +Namespaces | +Macros | +Typedefs
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    pfuclt_particles.h File Reference
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    #include <pfuclt_omni_dataset/pfuclt_aux.h>
    +#include <vector>
    +#include <algorithm>
    +#include <iostream>
    +#include <sstream>
    +#include <boost/random.hpp>
    +#include <boost/thread/mutex.hpp>
    +#include <Eigen/Core>
    +#include <Eigen/Geometry>
    +#include <tf2_ros/transform_broadcaster.h>
    +#include <read_omni_dataset/RobotState.h>
    +#include <read_omni_dataset/LRMGTData.h>
    +#include <read_omni_dataset/Estimate.h>
    +#include <pfuclt_omni_dataset/particle.h>
    +#include <pfuclt_omni_dataset/particles.h>
    +#include <dynamic_reconfigure/server.h>
    +#include <pfuclt_omni_dataset/DynamicConfig.h>
    +#include <geometry_msgs/Vector3.h>
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    struct  pfuclt_ptcls::ParticleFilter::dynamicVariables_s
     
    struct  pfuclt_ptcls::landmarkObs_s
     
    struct  pfuclt_ptcls::odometry_s
     
    class  pfuclt_ptcls::ParticleFilter
     
    struct  pfuclt_ptcls::ParticleFilter::PFinitData
     The PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleFilter instance. More...
     
    class  pfuclt_ptcls::PFPublisher
     The PFPublisher class - implements publishing for the ParticleFilter class using ROS. More...
     
    struct  pfuclt_ptcls::PFPublisher::PublishData
     
    struct  pfuclt_ptcls::ParticleFilter::State::robotState_s
     The robotState_s struct - saves information on the belief of a robot's state. More...
     
    struct  pfuclt_ptcls::ParticleFilter::State
     The state_s struct - defines a structure to hold state information for the particle filter class. More...
     
    struct  pfuclt_ptcls::targetObs_s
     
    struct  pfuclt_ptcls::ParticleFilter::State::targetState_s
     The targetState_s struct - saves information on the belief of the target's state. More...
     
    + + + +

    +Namespaces

     pfuclt_ptcls
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Macros

    #define MIN_WEIGHTSUM   1e-10
     
    #define NUM_ALPHAS   4
     
    #define O_THETA   (2)
     
    #define O_TX   (0)
     
    #define O_TY   (1)
     
    #define O_TZ   (2)
     
    #define O_X   (0)
     
    #define O_Y   (1)
     
    #define STATES_PER_TARGET   3
     
    #define TARGET_ITERATION_TIME_DEFAULT   0.0333
     
    #define TARGET_ITERATION_TIME_MAX   (1)
     
    #define TARGET_RAND_MEAN   0
     
    #define TARGET_RAND_STDDEV_LOST   500.0
     
    + + + + + + + + + + + + + + + + + +

    +Typedefs

    typedef double(* pfuclt_ptcls::estimatorFunc) (const std::vector< double > &, const std::vector< double > &)
     
    typedef struct pfuclt_ptcls::landmarkObs_s pfuclt_ptcls::LandmarkObservation
     
    typedef struct pfuclt_ptcls::odometry_s pfuclt_ptcls::Odometry
     
    typedef std::vector< subparticles_t > pfuclt_ptcls::particles_t
     
    typedef float pfuclt_ptcls::pdata_t
     
    typedef boost::random::mt19937 pfuclt_ptcls::RNGType
     
    typedef std::vector< pdata_t > pfuclt_ptcls::subparticles_t
     
    typedef struct pfuclt_ptcls::targetObs_s pfuclt_ptcls::TargetObservation
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define MIN_WEIGHTSUM   1e-10
    +
    + +

    Definition at line 51 of file pfuclt_particles.h.

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    #define NUM_ALPHAS   4
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    + +

    Definition at line 27 of file pfuclt_particles.h.

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    +
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    #define O_THETA   (2)
    +
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    Definition at line 35 of file pfuclt_particles.h.

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    #define O_TX   (0)
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    + +

    Definition at line 37 of file pfuclt_particles.h.

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    #define O_TY   (1)
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    Definition at line 38 of file pfuclt_particles.h.

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    #define O_TZ   (2)
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    + +

    Definition at line 39 of file pfuclt_particles.h.

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    #define O_X   (0)
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    + +

    Definition at line 33 of file pfuclt_particles.h.

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    #define O_Y   (1)
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    + +

    Definition at line 34 of file pfuclt_particles.h.

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    #define STATES_PER_TARGET   3
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    Definition at line 30 of file pfuclt_particles.h.

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    +
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    #define TARGET_ITERATION_TIME_DEFAULT   0.0333
    +
    + +

    Definition at line 47 of file pfuclt_particles.h.

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    + + + + +
    #define TARGET_ITERATION_TIME_MAX   (1)
    +
    + +

    Definition at line 48 of file pfuclt_particles.h.

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    +
    + + + + +
    #define TARGET_RAND_MEAN   0
    +
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    Definition at line 43 of file pfuclt_particles.h.

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    + + + + +
    #define TARGET_RAND_STDDEV_LOST   500.0
    +
    + +

    Definition at line 44 of file pfuclt_particles.h.

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    +
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
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    +
    +
    pfuclt_particles.h
    +
    +
    +Go to the documentation of this file.
    1 #ifndef PARTICLES_H
    2 #define PARTICLES_H
    3 
    4 #include <pfuclt_omni_dataset/pfuclt_aux.h>
    5 
    6 #include <vector>
    7 #include <algorithm>
    8 #include <iostream>
    9 #include <sstream>
    10 #include <boost/random.hpp>
    11 #include <boost/thread/mutex.hpp>
    12 #include <Eigen/Core>
    13 #include <Eigen/Geometry>
    14 #include <tf2_ros/transform_broadcaster.h>
    15 
    16 #include <read_omni_dataset/RobotState.h>
    17 #include <read_omni_dataset/LRMGTData.h>
    18 #include <read_omni_dataset/Estimate.h>
    19 #include <pfuclt_omni_dataset/particle.h>
    20 #include <pfuclt_omni_dataset/particles.h>
    21 
    22 #include <dynamic_reconfigure/server.h>
    23 #include <pfuclt_omni_dataset/DynamicConfig.h>
    24 
    25 #include <geometry_msgs/Vector3.h>
    26 
    27 #define NUM_ALPHAS 4
    28 
    29 // ideally later this will be a parameter, when it makes sense to
    30 #define STATES_PER_TARGET 3
    31 
    32 // offsets
    33 #define O_X (0)
    34 #define O_Y (1)
    35 #define O_THETA (2)
    36 //#define O_TARGET (nRobots_ * nStatesPerRobot_)
    37 #define O_TX (0)
    38 #define O_TY (1)
    39 #define O_TZ (2)
    40 //#define O_WEIGHT (nSubParticleSets_ - 1)
    41 
    42 // target motion model and estimator
    43 #define TARGET_RAND_MEAN 0
    44 #define TARGET_RAND_STDDEV_LOST 500.0
    45 
    46 // concerning time
    47 #define TARGET_ITERATION_TIME_DEFAULT 0.0333
    48 #define TARGET_ITERATION_TIME_MAX (1)
    49 
    50 // others
    51 #define MIN_WEIGHTSUM 1e-10
    52 
    53 //#define MORE_DEBUG true
    54 
    55 namespace pfuclt_ptcls
    56 {
    57 
    58 using namespace pfuclt_aux;
    59 
    60 typedef float pdata_t;
    61 
    62 typedef double (*estimatorFunc)(const std::vector<double>&,
    63  const std::vector<double>&);
    64 
    65 typedef struct odometry_s
    66 {
    67  double x, y, theta;
    68 } Odometry;
    69 
    70 typedef struct landmarkObs_s
    71 {
    72  bool found;
    73  double x, y;
    74  double d, phi;
    75  double covDD, covPP, covXX, covYY;
    76  landmarkObs_s() { found = false; }
    77 } LandmarkObservation;
    78 
    79 typedef struct targetObs_s
    80 {
    81  bool found;
    82  double x, y, z;
    83  double d, phi, r;
    84  double covDD, covPP, covXX, covYY;
    85 
    86  targetObs_s() { found = false; }
    87 } TargetObservation;
    88 
    89 // Apply concept of subparticles (the particle set for each dimension)
    90 typedef std::vector<pdata_t> subparticles_t;
    91 typedef std::vector<subparticles_t> particles_t;
    92 
    93 // This will be the generator use for randomizing
    94 typedef boost::random::mt19937 RNGType;
    95 
    96 class ParticleFilter
    97 {
    98 private:
    99  boost::mutex mutex_;
    100  dynamic_reconfigure::Server<pfuclt_omni_dataset::DynamicConfig>
    101  dynamicServer_;
    102 
    103 protected:
    104  struct dynamicVariables_s
    105  {
    106  bool firstCallback;
    107  int nParticles;
    108  double resamplingPercentageToKeep;
    109  double targetRandStddev;
    110  double oldTargetRandSTddev;
    111  std::vector<std::vector<float> > alpha;
    112 
    113  dynamicVariables_s(ros::NodeHandle& nh, const uint nRobots);
    114 
    115  void fill_alpha(const uint robot, const std::string& str);
    116 
    117  } dynamicVariables_;
    118 
    123  struct State
    124  {
    125  uint nRobots;
    126  uint nStatesPerRobot;
    127 
    132  typedef struct robotState_s
    133  {
    134  std::vector<pdata_t> pose;
    135  pdata_t conf;
    136 
    137  robotState_s(uint poseSize) : pose(poseSize, 0.0), conf(0.0) {}
    138  } RobotState;
    139  std::vector<RobotState> robots;
    140 
    145  struct targetState_s
    146  {
    147  std::vector<pdata_t> pos;
    148  bool seen;
    149 
    150  targetState_s()
    151  : pos(STATES_PER_TARGET, 0.0), seen(false)
    152  {
    153  }
    154  } target;
    155 
    159  State(const uint nStatesPerRobot, const uint nRobots)
    160  : nStatesPerRobot(nStatesPerRobot), nRobots(nRobots)
    161  {
    162  // Create and initialize the robots vector
    163  for (uint r = 0; r < nRobots; ++r)
    164  robots.push_back(robotState_s(nStatesPerRobot));
    165  }
    166  };
    167 
    168 public:
    173  struct PFinitData
    174  {
    175  const uint mainRobotID, nTargets, statesPerRobot, nRobots, nLandmarks;
    176  const std::vector<bool>& robotsUsed;
    177  const std::vector<Landmark>& landmarksMap;
    178  ros::NodeHandle& nh;
    179 
    196  PFinitData(ros::NodeHandle& nh, const uint mainRobotID, const uint nTargets,
    197  const uint statesPerRobot, const uint nRobots,
    198  const uint nLandmarks, const std::vector<bool>& robotsUsed,
    199  const std::vector<Landmark>& landmarksMap)
    200  : nh(nh), mainRobotID(mainRobotID), nTargets(nTargets),
    201  statesPerRobot(statesPerRobot), nRobots(nRobots),
    202  nLandmarks(nLandmarks), robotsUsed(robotsUsed),
    203  landmarksMap(landmarksMap)
    204  {
    205  }
    206  };
    207 
    208 protected:
    209  ros::NodeHandle& nh_;
    210  uint nParticles_;
    211  const uint mainRobotID_;
    212  const std::vector<Landmark>& landmarksMap_;
    213  const std::vector<bool>& robotsUsed_;
    214  const uint nTargets_;
    215  const uint nRobots_;
    216  const uint nStatesPerRobot_;
    217  const uint nSubParticleSets_;
    218  const uint nLandmarks_;
    219  particles_t particles_;
    220  particles_t weightComponents_;
    221  RNGType seed_;
    222  bool initialized_;
    223  std::vector<std::vector<LandmarkObservation> > bufLandmarkObservations_;
    224  std::vector<TargetObservation> bufTargetObservations_;
    225  TimeEval targetIterationTime_, odometryTime_;
    226  ros::WallTime iterationEvalTime_;
    227  ros::WallDuration deltaIteration_, maxDeltaIteration_;
    228  ros::WallDuration durationSum;
    229  uint16_t numberIterations;
    230  struct State state_;
    231  ros::Time latestObservationTime_, savedLatestObservationTime_;
    232  bool converged_;
    233 
    243  inline void copyParticle(particles_t& p_To, particles_t& p_From, uint i_To,
    244  uint i_From)
    245  {
    246  copyParticle(p_To, p_From, i_To, i_From, 0, p_To.size() - 1);
    247  }
    248 
    260  inline void copyParticle(particles_t& p_To, particles_t& p_From, uint i_To,
    261  uint i_From, uint subFirst, uint subLast)
    262  {
    263  for (uint k = subFirst; k <= subLast; ++k)
    264  p_To[k][i_To] = p_From[k][i_From];
    265  }
    266 
    270  inline void resetWeights(pdata_t val)
    271  {
    272  particles_[O_WEIGHT].assign(particles_[O_WEIGHT].size(), val);
    273  }
    274 
    283  void spreadTargetParticlesSphere(float particlesRatio, pdata_t center[3],
    284  float radius);
    285 
    290  void predictTarget();
    291 
    295  void fuseRobots();
    296 
    300  void fuseTarget();
    301 
    306  void modifiedMultinomialResampler(uint startAt);
    307 
    311  void resample();
    312 
    316  void estimate();
    317 
    321  virtual void nextIteration() {}
    322 
    327  virtual void resize_particles(const uint n)
    328  {
    329  size_t old_size = particles_[0].size();
    330 
    331  // Resize weightComponents
    332  for (uint r = 0; r < weightComponents_.size(); ++r)
    333  weightComponents_[r].resize(n);
    334 
    335  // Resize particles
    336  for (uint s = 0; s < particles_.size(); ++s)
    337  particles_[s].resize(n);
    338 
    339  // If n is lower than old_size, the last particles are removed - the ones
    340  // with the most weight are kept
    341  // But if n is higher, it's better to resample
    342  if (n > old_size)
    343  resample();
    344  }
    345 
    346 public:
    347  boost::shared_ptr<std::ostringstream> iteration_oss;
    348  uint O_TARGET, O_WEIGHT;
    349 
    354  void dynamicReconfigureCallback(pfuclt_omni_dataset::DynamicConfig&);
    355 
    361  ParticleFilter(struct PFinitData& data);
    362 
    369  void updateTargetIterationTime(ros::Time tRos)
    370  {
    371  targetIterationTime_.updateTime(tRos);
    372 
    373  if (fabs(targetIterationTime_.diff) > TARGET_ITERATION_TIME_MAX)
    374  {
    375  // Something is wrong, set to default iteration time
    376  targetIterationTime_.diff = TARGET_ITERATION_TIME_DEFAULT;
    377  }
    378  ROS_DEBUG("Target tracking iteration time: %f", targetIterationTime_.diff);
    379  }
    380 
    386  ParticleFilter* getPFReference() { return this; }
    387 
    391  void printWeights(std::string pre);
    392 
    397  void assign(const pdata_t value);
    398 
    404  void assign(const pdata_t value, const uint index);
    405 
    411  inline subparticles_t& operator[](int index) { return particles_[index]; }
    412 
    420  inline const subparticles_t& operator[](int index) const
    421  {
    422  return particles_[index];
    423  }
    424 
    429  void init();
    430 
    441  void init(const std::vector<double>& customRandInit,
    442  const std::vector<double>& customPosInit);
    443 
    452  void predict(const uint robotNumber, const Odometry odom,
    453  const ros::Time stamp);
    454 
    460  bool isInitialized() { return initialized_; }
    461 
    466  std::size_t size() { return nSubParticleSets_; }
    467 
    476  inline void saveLandmarkObservation(const uint robotNumber,
    477  const uint landmarkNumber,
    478  const LandmarkObservation obs,
    479  ros::Time stamp)
    480  {
    481  bufLandmarkObservations_[robotNumber][landmarkNumber] = obs;
    482  latestObservationTime_ = stamp;
    483  }
    484 
    490  inline void saveLandmarkObservation(const uint robotNumber,
    491  const uint landmarkNumber,
    492  const bool found)
    493  {
    494  bufLandmarkObservations_[robotNumber][landmarkNumber].found = found;
    495  }
    496 
    503  void saveAllLandmarkMeasurementsDone(const uint robotNumber);
    504 
    511  inline void saveTargetObservation(const uint robotNumber,
    512  const TargetObservation obs,
    513  ros::Time stamp)
    514  {
    515  bufTargetObservations_[robotNumber] = obs;
    516 
    517  // If previously target not seen and now is found
    518  if (obs.found && !state_.target.seen)
    519  {
    520  // Update to target seen
    521  state_.target.seen = true;
    522 
    523  // Observation to global frame
    524  const ParticleFilter::State::RobotState& rs = state_.robots[robotNumber];
    525  pdata_t ballGlobal[3];
    526  ballGlobal[O_TX] = rs.pose[O_X] + obs.x * cos(rs.pose[O_THETA]) -
    527  obs.y * sin(rs.pose[O_THETA]);
    528  ballGlobal[O_TY] = rs.pose[O_Y] + obs.x * sin(rs.pose[O_THETA]) +
    529  obs.y * cos(rs.pose[O_THETA]);
    530  ballGlobal[O_TZ] = obs.z;
    531 
    532  // Spread 50% of particles around ballGlobal in a sphere with 1.0 meter
    533  // radius
    534  spreadTargetParticlesSphere(0.5, ballGlobal, 1.0);
    535  }
    536  }
    537 
    543  inline void saveTargetObservation(const uint robotNumber, const bool found)
    544  {
    545  bufTargetObservations_[robotNumber].found = found;
    546  }
    547 
    554  void saveAllTargetMeasurementsDone(const uint robotNumber);
    555 };
    556 
    561 class PFPublisher : public ParticleFilter
    562 {
    563 public:
    564  struct PublishData
    565  {
    566  float robotHeight;
    567 
    574  PublishData(float robotHeight) : robotHeight(robotHeight) {}
    575  };
    576 
    582  void resize_particles(const uint n)
    583  {
    584  // Call base class method
    585  ParticleFilter::resize_particles(n);
    586 
    587  ROS_INFO("Resizing particle message");
    588 
    589  // Resize particle message
    590  msg_particles_.particles.resize(n);
    591  for (uint p = 0; p < n; ++p)
    592  {
    593  msg_particles_.particles[p].particle.resize(nSubParticleSets_);
    594  }
    595  }
    596 
    597 private:
    598  ros::Subscriber GT_sub_;
    599  ros::Publisher estimatePublisher_, particlePublisher_,
    600  targetEstimatePublisher_, targetGTPublisher_, targetParticlePublisher_;
    601  std::vector<ros::Publisher> particleStdPublishers_;
    602  std::vector<ros::Publisher> robotGTPublishers_;
    603  std::vector<ros::Publisher> robotEstimatePublishers_;
    604  ros::Publisher targetObservationsPublisher_;
    605 
    606  read_omni_dataset::LRMGTData msg_GT_;
    607  pfuclt_omni_dataset::particles msg_particles_;
    608  read_omni_dataset::Estimate msg_estimate_;
    609 
    610  std::vector<tf2_ros::TransformBroadcaster> robotBroadcasters;
    611 
    612  struct PublishData pubData;
    613 
    614  void publishParticles();
    615  void publishRobotStates();
    616  void publishTargetState();
    617  void publishEstimate();
    618  void publishGTData();
    619  void publishTargetObservations();
    620 
    621 public:
    628  PFPublisher(struct ParticleFilter::PFinitData& data,
    629  struct PublishData publishData);
    630 
    636  ParticleFilter* getPFReference() { return (ParticleFilter*)this; }
    637 
    641  void gtDataCallback(const read_omni_dataset::LRMGTData::ConstPtr&);
    642 
    647  void nextIteration();
    648 };
    649 
    650 // end of namespace pfuclt_ptcls
    651 }
    652 #endif // PARTICLES_H
    pfuclt_ptcls::PFPublisher::PublishData::PublishData
    PublishData(float robotHeight)
    PublishData - contains information necessary for the PFPublisher class.
    Definition: pfuclt_particles.h:574
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s::robotState_s
    robotState_s(uint poseSize)
    Definition: pfuclt_particles.h:137
    +
    pfuclt_ptcls::PFPublisher::msg_estimate_
    read_omni_dataset::Estimate msg_estimate_
    Definition: pfuclt_particles.h:608
    +
    pfuclt_ptcls::PFPublisher::robotGTPublishers_
    std::vector< ros::Publisher > robotGTPublishers_
    Definition: pfuclt_particles.h:602
    +
    pfuclt_ptcls::ParticleFilter::State::nStatesPerRobot
    uint nStatesPerRobot
    Definition: pfuclt_particles.h:126
    +
    pfuclt_ptcls::ParticleFilter::getPFReference
    ParticleFilter * getPFReference()
    getPFReference - retrieve a reference to this object - to be overloaded by deriving classes so that t...
    Definition: pfuclt_particles.h:386
    +
    pfuclt_ptcls::ParticleFilter::particles_
    particles_t particles_
    Definition: pfuclt_particles.h:219
    +
    pfuclt_ptcls::ParticleFilter::numberIterations
    uint16_t numberIterations
    Definition: pfuclt_particles.h:229
    +
    pfuclt_ptcls::ParticleFilter::saveLandmarkObservation
    void saveLandmarkObservation(const uint robotNumber, const uint landmarkNumber, const LandmarkObservation obs, ros::Time stamp)
    saveLandmarkObservation - saves the landmark observation to a buffer of observations ...
    Definition: pfuclt_particles.h:476
    +
    pfuclt_ptcls::ParticleFilter::nh_
    ros::NodeHandle & nh_
    Definition: pfuclt_particles.h:209
    +
    pfuclt_ptcls::PFPublisher::resize_particles
    void resize_particles(const uint n)
    resize_particles - change to a different number of particles and resize the publishing message ...
    Definition: pfuclt_particles.h:582
    +
    pfuclt_ptcls::landmarkObs_s::phi
    double phi
    Definition: pfuclt_particles.h:74
    +
    pfuclt_ptcls::ParticleFilter::operator[]
    const subparticles_t & operator[](int index) const
    operator [] - const version of the array subscripting access, when using it on const intantiations of...
    Definition: pfuclt_particles.h:420
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::firstCallback
    bool firstCallback
    Definition: pfuclt_particles.h:106
    +
    pfuclt_ptcls::ParticleFilter
    Definition: pfuclt_particles.h:96
    +
    pfuclt_ptcls::ParticleFilter::PFinitData::nh
    ros::NodeHandle & nh
    Definition: pfuclt_particles.h:178
    +
    pfuclt_ptcls::PFPublisher::GT_sub_
    ros::Subscriber GT_sub_
    Definition: pfuclt_particles.h:598
    +
    pfuclt_ptcls::ParticleFilter::mutex_
    boost::mutex mutex_
    Definition: pfuclt_particles.h:99
    +
    O_X
    #define O_X
    Definition: pfuclt_particles.h:33
    +
    TARGET_ITERATION_TIME_DEFAULT
    #define TARGET_ITERATION_TIME_DEFAULT
    Definition: pfuclt_particles.h:47
    +
    pfuclt_ptcls::ParticleFilter::resize_particles
    virtual void resize_particles(const uint n)
    resize_particles - change to a different number of particles
    Definition: pfuclt_particles.h:327
    +
    pfuclt_ptcls::ParticleFilter::nSubParticleSets_
    const uint nSubParticleSets_
    Definition: pfuclt_particles.h:217
    +
    O_TX
    #define O_TX
    Definition: pfuclt_particles.h:37
    +
    pfuclt_ptcls::PFPublisher::robotBroadcasters
    std::vector< tf2_ros::TransformBroadcaster > robotBroadcasters
    Definition: pfuclt_particles.h:610
    +
    STATES_PER_TARGET
    #define STATES_PER_TARGET
    Definition: pfuclt_particles.h:30
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s::pos
    std::vector< pdata_t > pos
    Definition: pfuclt_particles.h:147
    +
    pfuclt_ptcls::odometry_s::y
    double y
    Definition: pfuclt_particles.h:67
    +
    pfuclt_ptcls::ParticleFilter::weightComponents_
    particles_t weightComponents_
    Definition: pfuclt_particles.h:220
    +
    pfuclt_ptcls::targetObs_s::r
    double r
    Definition: pfuclt_particles.h:83
    +
    pfuclt_ptcls::ParticleFilter::seed_
    RNGType seed_
    Definition: pfuclt_particles.h:221
    +
    O_Y
    #define O_Y
    Definition: pfuclt_particles.h:34
    +
    pfuclt_ptcls::landmarkObs_s::covYY
    double covYY
    Definition: pfuclt_particles.h:75
    +
    pfuclt_ptcls::targetObs_s::found
    bool found
    Definition: pfuclt_particles.h:81
    +
    pfuclt_ptcls::ParticleFilter::O_WEIGHT
    uint O_WEIGHT
    Definition: pfuclt_particles.h:348
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::nParticles
    int nParticles
    Definition: pfuclt_particles.h:107
    +
    pfuclt_ptcls::ParticleFilter::converged_
    bool converged_
    Definition: pfuclt_particles.h:232
    +
    pfuclt_ptcls::ParticleFilter::saveTargetObservation
    void saveTargetObservation(const uint robotNumber, const bool found)
    saveTargetObservation - change the measurement buffer state
    Definition: pfuclt_particles.h:543
    +
    O_TY
    #define O_TY
    Definition: pfuclt_particles.h:38
    +
    pfuclt_ptcls::PFPublisher::PublishData
    Definition: pfuclt_particles.h:564
    +
    pfuclt_ptcls::PFPublisher::robotEstimatePublishers_
    std::vector< ros::Publisher > robotEstimatePublishers_
    Definition: pfuclt_particles.h:603
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s::seen
    bool seen
    Definition: pfuclt_particles.h:148
    +
    pfuclt_ptcls::PFPublisher::getPFReference
    ParticleFilter * getPFReference()
    getPFReference - retrieve a reference to the base class&#39;s members
    Definition: pfuclt_particles.h:636
    +
    pfuclt_ptcls::RNGType
    boost::random::mt19937 RNGType
    Definition: pfuclt_particles.h:94
    +
    pfuclt_ptcls::ParticleFilter::isInitialized
    bool isInitialized()
    isInitialized - simple interface to access private member initialized_
    Definition: pfuclt_particles.h:460
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::resamplingPercentageToKeep
    double resamplingPercentageToKeep
    Definition: pfuclt_particles.h:108
    +
    pfuclt_ptcls::PFPublisher
    The PFPublisher class - implements publishing for the ParticleFilter class using ROS.
    Definition: pfuclt_particles.h:561
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s::pose
    std::vector< pdata_t > pose
    Definition: pfuclt_particles.h:134
    +
    pfuclt_ptcls::targetObs_s::z
    double z
    Definition: pfuclt_particles.h:82
    +
    pfuclt_ptcls::ParticleFilter::PFinitData
    The PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleF...
    Definition: pfuclt_particles.h:173
    +
    pfuclt_ptcls::PFPublisher::msg_particles_
    pfuclt_omni_dataset::particles msg_particles_
    Definition: pfuclt_particles.h:607
    +
    pfuclt_ptcls::ParticleFilter::iterationEvalTime_
    ros::WallTime iterationEvalTime_
    Definition: pfuclt_particles.h:226
    +
    pfuclt_ptcls::landmarkObs_s::y
    double y
    Definition: pfuclt_particles.h:73
    +
    pfuclt_ptcls::ParticleFilter::durationSum
    ros::WallDuration durationSum
    Definition: pfuclt_particles.h:228
    +
    pfuclt_ptcls::ParticleFilter::copyParticle
    void copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From)
    copyParticle - copies a whole particle from one particle set to another
    Definition: pfuclt_particles.h:243
    +
    pfuclt_ptcls::PFPublisher::targetParticlePublisher_
    ros::Publisher targetParticlePublisher_
    Definition: pfuclt_particles.h:599
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s
    The targetState_s struct - saves information on the belief of the target&#39;s state. ...
    Definition: pfuclt_particles.h:145
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s::conf
    pdata_t conf
    Definition: pfuclt_particles.h:135
    +
    pfuclt_ptcls::ParticleFilter::bufLandmarkObservations_
    std::vector< std::vector< LandmarkObservation > > bufLandmarkObservations_
    Definition: pfuclt_particles.h:223
    +
    pfuclt_ptcls::ParticleFilter::saveTargetObservation
    void saveTargetObservation(const uint robotNumber, const TargetObservation obs, ros::Time stamp)
    saveTargetObservation - saves the target observation to a buffer of observations
    Definition: pfuclt_particles.h:511
    +
    pfuclt_ptcls::Odometry
    struct pfuclt_ptcls::odometry_s Odometry
    +
    pfuclt_ptcls::ParticleFilter::nRobots_
    const uint nRobots_
    Definition: pfuclt_particles.h:215
    +
    pfuclt_ptcls::ParticleFilter::bufTargetObservations_
    std::vector< TargetObservation > bufTargetObservations_
    Definition: pfuclt_particles.h:224
    +
    pfuclt_ptcls::ParticleFilter::size
    std::size_t size()
    size - interface to the size of the particle filter
    Definition: pfuclt_particles.h:466
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s::targetState_s
    targetState_s()
    Definition: pfuclt_particles.h:150
    +
    pfuclt_ptcls::targetObs_s::targetObs_s
    targetObs_s()
    Definition: pfuclt_particles.h:86
    +
    pfuclt_ptcls::ParticleFilter::maxDeltaIteration_
    ros::WallDuration maxDeltaIteration_
    Definition: pfuclt_particles.h:227
    +
    pfuclt_ptcls::PFPublisher::PublishData::robotHeight
    float robotHeight
    Definition: pfuclt_particles.h:566
    +
    pfuclt_ptcls::ParticleFilter::PFinitData::robotsUsed
    const std::vector< bool > & robotsUsed
    Definition: pfuclt_particles.h:176
    +
    TARGET_ITERATION_TIME_MAX
    #define TARGET_ITERATION_TIME_MAX
    Definition: pfuclt_particles.h:48
    +
    pfuclt_aux::timeEval_s::updateTime
    double updateTime(ros::Time t)
    updateTime - adds the newest time available to the struct and returns the time difference ...
    Definition: pfuclt_aux.h:185
    +
    pfuclt_ptcls::ParticleFilter::initialized_
    bool initialized_
    Definition: pfuclt_particles.h:222
    +
    pfuclt_ptcls::PFPublisher::msg_GT_
    read_omni_dataset::LRMGTData msg_GT_
    Definition: pfuclt_particles.h:606
    +
    pfuclt_ptcls::ParticleFilter::State::nRobots
    uint nRobots
    Definition: pfuclt_particles.h:125
    +
    pfuclt_ptcls::ParticleFilter::robotsUsed_
    const std::vector< bool > & robotsUsed_
    Definition: pfuclt_particles.h:213
    +
    pfuclt_ptcls::ParticleFilter::nParticles_
    uint nParticles_
    Definition: pfuclt_particles.h:210
    +
    pfuclt_ptcls::ParticleFilter::mainRobotID_
    const uint mainRobotID_
    Definition: pfuclt_particles.h:211
    +
    pfuclt_ptcls::subparticles_t
    std::vector< pdata_t > subparticles_t
    Definition: pfuclt_particles.h:90
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s
    The robotState_s struct - saves information on the belief of a robot&#39;s state.
    Definition: pfuclt_particles.h:132
    +
    pfuclt_ptcls::ParticleFilter::PFinitData::landmarksMap
    const std::vector< Landmark > & landmarksMap
    Definition: pfuclt_particles.h:177
    +
    pfuclt_ptcls::ParticleFilter::landmarksMap_
    const std::vector< Landmark > & landmarksMap_
    Definition: pfuclt_particles.h:212
    +
    pfuclt_ptcls::ParticleFilter::State::robots
    std::vector< RobotState > robots
    Definition: pfuclt_particles.h:139
    +
    pfuclt_ptcls::odometry_s
    Definition: pfuclt_particles.h:65
    +
    pfuclt_ptcls::landmarkObs_s
    Definition: pfuclt_particles.h:70
    +
    pfuclt_ptcls::targetObs_s
    Definition: pfuclt_particles.h:79
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s
    Definition: pfuclt_particles.h:104
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::alpha
    std::vector< std::vector< float > > alpha
    Definition: pfuclt_particles.h:111
    +
    pfuclt_ptcls::ParticleFilter::updateTargetIterationTime
    void updateTargetIterationTime(ros::Time tRos)
    updateTargetIterationTime - the main robot should call this method after the target callback ...
    Definition: pfuclt_particles.h:369
    +
    O_THETA
    #define O_THETA
    Definition: pfuclt_particles.h:35
    +
    pfuclt_ptcls::estimatorFunc
    double(* estimatorFunc)(const std::vector< double > &, const std::vector< double > &)
    Definition: pfuclt_particles.h:62
    +
    pfuclt_ptcls::ParticleFilter::PFinitData::statesPerRobot
    const uint statesPerRobot
    Definition: pfuclt_particles.h:175
    +
    pfuclt_ptcls::ParticleFilter::dynamicServer_
    dynamic_reconfigure::Server< pfuclt_omni_dataset::DynamicConfig > dynamicServer_
    Definition: pfuclt_particles.h:101
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::targetRandStddev
    double targetRandStddev
    Definition: pfuclt_particles.h:109
    +
    pfuclt_ptcls::targetObs_s::covYY
    double covYY
    Definition: pfuclt_particles.h:84
    +
    pfuclt_ptcls::ParticleFilter::State::State
    State(const uint nStatesPerRobot, const uint nRobots)
    State - constructor.
    Definition: pfuclt_particles.h:159
    +
    pfuclt_aux
    Definition: pfuclt_aux.h:14
    +
    pfuclt_ptcls::ParticleFilter::targetIterationTime_
    TimeEval targetIterationTime_
    Definition: pfuclt_particles.h:225
    +
    pfuclt_ptcls::ParticleFilter::nStatesPerRobot_
    const uint nStatesPerRobot_
    Definition: pfuclt_particles.h:216
    +
    pfuclt_ptcls::ParticleFilter::operator[]
    subparticles_t & operator[](int index)
    operator [] - array subscripting access to the private particle set
    Definition: pfuclt_particles.h:411
    +
    pfuclt_ptcls::ParticleFilter::State
    The state_s struct - defines a structure to hold state information for the particle filter class...
    Definition: pfuclt_particles.h:123
    +
    pfuclt_ptcls::PFPublisher::particleStdPublishers_
    std::vector< ros::Publisher > particleStdPublishers_
    Definition: pfuclt_particles.h:601
    +
    pfuclt_ptcls::ParticleFilter::copyParticle
    void copyParticle(particles_t &p_To, particles_t &p_From, uint i_To, uint i_From, uint subFirst, uint subLast)
    copyParticle - copies some subparticle sets of a particle from one particle set to another ...
    Definition: pfuclt_particles.h:260
    +
    O_TZ
    #define O_TZ
    Definition: pfuclt_particles.h:39
    +
    pfuclt_ptcls::landmarkObs_s::landmarkObs_s
    landmarkObs_s()
    Definition: pfuclt_particles.h:76
    +
    pfuclt_ptcls::ParticleFilter::nextIteration
    virtual void nextIteration()
    nextIteration - perform final steps before next iteration
    Definition: pfuclt_particles.h:321
    +
    pfuclt_ptcls::ParticleFilter::resetWeights
    void resetWeights(pdata_t val)
    resetWeights - assign the value val to all particle weights
    Definition: pfuclt_particles.h:270
    +
    pfuclt_ptcls
    Definition: pfuclt_particles.h:55
    +
    pfuclt_ptcls::ParticleFilter::PFinitData::PFinitData
    PFinitData(ros::NodeHandle &nh, const uint mainRobotID, const uint nTargets, const uint statesPerRobot, const uint nRobots, const uint nLandmarks, const std::vector< bool > &robotsUsed, const std::vector< Landmark > &landmarksMap)
    PFinitData.
    Definition: pfuclt_particles.h:196
    +
    pfuclt_ptcls::particles_t
    std::vector< subparticles_t > particles_t
    Definition: pfuclt_particles.h:91
    +
    pfuclt_ptcls::targetObs_s::x
    double x
    Definition: pfuclt_particles.h:82
    +
    pfuclt_ptcls::targetObs_s::y
    double y
    Definition: pfuclt_particles.h:82
    +
    pfuclt_ptcls::PFPublisher::targetObservationsPublisher_
    ros::Publisher targetObservationsPublisher_
    Definition: pfuclt_particles.h:604
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::oldTargetRandSTddev
    double oldTargetRandSTddev
    Definition: pfuclt_particles.h:110
    +
    pfuclt_ptcls::TargetObservation
    struct pfuclt_ptcls::targetObs_s TargetObservation
    +
    pfuclt_ptcls::ParticleFilter::saveLandmarkObservation
    void saveLandmarkObservation(const uint robotNumber, const uint landmarkNumber, const bool found)
    saveLandmarkObservation - change the measurement buffer state
    Definition: pfuclt_particles.h:490
    +
    pfuclt_ptcls::ParticleFilter::nLandmarks_
    const uint nLandmarks_
    Definition: pfuclt_particles.h:218
    +
    pfuclt_ptcls::ParticleFilter::iteration_oss
    boost::shared_ptr< std::ostringstream > iteration_oss
    Definition: pfuclt_particles.h:347
    +
    pfuclt_ptcls::LandmarkObservation
    struct pfuclt_ptcls::landmarkObs_s LandmarkObservation
    +
    pfuclt_ptcls::pdata_t
    float pdata_t
    Definition: pfuclt_particles.h:60
    +
    pfuclt_aux::timeEval_s
    The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods...
    Definition: pfuclt_aux.h:167
    +
    pfuclt_aux::timeEval_s::diff
    double diff
    Definition: pfuclt_aux.h:171
    +
    pfuclt_ptcls::landmarkObs_s::found
    bool found
    Definition: pfuclt_particles.h:72
    +
    pfuclt_aux.h
    +
    pfuclt_ptcls::ParticleFilter::savedLatestObservationTime_
    ros::Time savedLatestObservationTime_
    Definition: pfuclt_particles.h:231
    +
    pfuclt_ptcls::ParticleFilter::nTargets_
    const uint nTargets_
    Definition: pfuclt_particles.h:214
    +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__aux_1_1landmark__s-members.html b/doc/html/c++/structpfuclt__aux_1_1landmark__s-members.html new file mode 100644 index 0000000..f3158c1 --- /dev/null +++ b/doc/html/c++/structpfuclt__aux_1_1landmark__s-members.html @@ -0,0 +1,48 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_aux::landmark_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_aux::landmark_s, including all inherited members.

    + + + + +
    serialpfuclt_aux::landmark_s
    xpfuclt_aux::landmark_s
    ypfuclt_aux::landmark_s
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__aux_1_1landmark__s.html b/doc/html/c++/structpfuclt__aux_1_1landmark__s.html new file mode 100644 index 0000000..710d143 --- /dev/null +++ b/doc/html/c++/structpfuclt__aux_1_1landmark__s.html @@ -0,0 +1,110 @@ + +pfuclt_omni_dataset: pfuclt_aux::landmark_s Struct Reference + + + + + + + + + +
    +
    +Public Attributes | +List of all members
    +
    +
    pfuclt_aux::landmark_s Struct Reference
    +
    +
    + +

    The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}. + More...

    + +

    #include <pfuclt_aux.h>

    + + + + + + + + +

    +Public Attributes

    int serial
     
    float x
     
    float y
     
    +

    Detailed Description

    +

    The Landmark struct - used to store a landmark, defined by its serial number, and its position {x,y}.

    + +

    Definition at line 30 of file pfuclt_aux.h.

    +

    Member Data Documentation

    + +
    +
    + + + + +
    int pfuclt_aux::landmark_s::serial
    +
    + +

    Definition at line 32 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + +
    float pfuclt_aux::landmark_s::x
    +
    + +

    Definition at line 33 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + +
    float pfuclt_aux::landmark_s::y
    +
    + +

    Definition at line 33 of file pfuclt_aux.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__aux_1_1timeEval__s-members.html b/doc/html/c++/structpfuclt__aux_1_1timeEval__s-members.html new file mode 100644 index 0000000..2ccd051 --- /dev/null +++ b/doc/html/c++/structpfuclt__aux_1_1timeEval__s-members.html @@ -0,0 +1,53 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_aux::timeEval_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_aux::timeEval_s, including all inherited members.

    + + + + + + + + + +
    diffpfuclt_aux::timeEval_s
    rosNewpfuclt_aux::timeEval_s
    rosPrevpfuclt_aux::timeEval_s
    timeEval_s()pfuclt_aux::timeEval_sinline
    updateTime(ros::Time t)pfuclt_aux::timeEval_sinline
    updateTime(ros::WallTime t)pfuclt_aux::timeEval_sinline
    wallNewpfuclt_aux::timeEval_s
    wallPrevpfuclt_aux::timeEval_s
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__aux_1_1timeEval__s.html b/doc/html/c++/structpfuclt__aux_1_1timeEval__s.html new file mode 100644 index 0000000..defb0d3 --- /dev/null +++ b/doc/html/c++/structpfuclt__aux_1_1timeEval__s.html @@ -0,0 +1,241 @@ + +pfuclt_omni_dataset: pfuclt_aux::timeEval_s Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_aux::timeEval_s Struct Reference
    +
    +
    + +

    The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods. + More...

    + +

    #include <pfuclt_aux.h>

    + + + + + + + + + +

    +Public Member Functions

     timeEval_s ()
     
    double updateTime (ros::Time t)
     updateTime - adds the newest time available to the struct and returns the time difference More...
     
    double updateTime (ros::WallTime t)
     
    + + + + + + + + + + + +

    +Public Attributes

    double diff
     
    ros::Time rosNew
     
    ros::Time rosPrev
     
    ros::WallTime wallNew
     
    ros::WallTime wallPrev
     
    +

    Detailed Description

    +

    The timeEval_s struct - takes care of time difference evaluation through the ros::Time methods.

    + +

    Definition at line 167 of file pfuclt_aux.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + +
    pfuclt_aux::timeEval_s::timeEval_s ()
    +     		+inline
    +
    + +

    Definition at line 173 of file pfuclt_aux.h.

    + +
    +
    +

    Member Function Documentation

    + +
    +
    + + + + + +
    + + + + + + + + +
    double pfuclt_aux::timeEval_s::updateTime (ros::Time t)
    +     		+inline
    +
    + +

    updateTime - adds the newest time available to the struct and returns the time difference

    +
    Parameters
    + + +
    t- the new time in ros::Time format
    +
    +
    +
    Returns
    + +

    Definition at line 185 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    double pfuclt_aux::timeEval_s::updateTime (ros::WallTime t)
    +     		+inline
    +
    + +

    Definition at line 195 of file pfuclt_aux.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    double pfuclt_aux::timeEval_s::diff
    +
    + +

    Definition at line 171 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + +
    ros::Time pfuclt_aux::timeEval_s::rosNew
    +
    + +

    Definition at line 169 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + +
    ros::Time pfuclt_aux::timeEval_s::rosPrev
    +
    + +

    Definition at line 169 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + +
    ros::WallTime pfuclt_aux::timeEval_s::wallNew
    +
    + +

    Definition at line 170 of file pfuclt_aux.h.

    + +
    +
    + +
    +
    + + + + +
    ros::WallTime pfuclt_aux::timeEval_s::wallPrev
    +
    + +

    Definition at line 170 of file pfuclt_aux.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1PFPublisher_1_1PublishData-members.html b/doc/html/c++/structpfuclt__ptcls_1_1PFPublisher_1_1PublishData-members.html new file mode 100644 index 0000000..ffdce10 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1PFPublisher_1_1PublishData-members.html @@ -0,0 +1,47 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::PFPublisher::PublishData Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::PFPublisher::PublishData, including all inherited members.

    + + + +
    PublishData(float robotHeight)pfuclt_ptcls::PFPublisher::PublishDatainline
    robotHeightpfuclt_ptcls::PFPublisher::PublishData
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1PFPublisher_1_1PublishData.html b/doc/html/c++/structpfuclt__ptcls_1_1PFPublisher_1_1PublishData.html new file mode 100644 index 0000000..e7b8c1e --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1PFPublisher_1_1PublishData.html @@ -0,0 +1,117 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::PFPublisher::PublishData Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::PFPublisher::PublishData Struct Reference
    +
    +
    + +

    #include <pfuclt_particles.h>

    + + + + + +

    +Public Member Functions

     PublishData (float robotHeight)
     PublishData - contains information necessary for the PFPublisher class. More...
     
    + + + +

    +Public Attributes

    float robotHeight
     
    +

    Detailed Description

    +
    +

    Definition at line 564 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + + +
    pfuclt_ptcls::PFPublisher::PublishData::PublishData (float robotHeight)
    +     		+inline
    +
    + +

    PublishData - contains information necessary for the PFPublisher class.

    +
    Parameters
    + + + +
    nh- the node handle object
    robotHeight- the fixed robot height
    +
    +
    + +

    Definition at line 574 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    float pfuclt_ptcls::PFPublisher::PublishData::robotHeight
    +
    + +

    Definition at line 566 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1PFinitData-members.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1PFinitData-members.html new file mode 100644 index 0000000..277860f --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1PFinitData-members.html @@ -0,0 +1,54 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::ParticleFilter::PFinitData Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::ParticleFilter::PFinitData, including all inherited members.

    + + + + + + + + + + +
    landmarksMappfuclt_ptcls::ParticleFilter::PFinitData
    mainRobotIDpfuclt_ptcls::ParticleFilter::PFinitData
    nhpfuclt_ptcls::ParticleFilter::PFinitData
    nLandmarkspfuclt_ptcls::ParticleFilter::PFinitData
    nRobotspfuclt_ptcls::ParticleFilter::PFinitData
    nTargetspfuclt_ptcls::ParticleFilter::PFinitData
    PFinitData(ros::NodeHandle &nh, const uint mainRobotID, const uint nTargets, const uint statesPerRobot, const uint nRobots, const uint nLandmarks, const std::vector< bool > &robotsUsed, const std::vector< Landmark > &landmarksMap)pfuclt_ptcls::ParticleFilter::PFinitDatainline
    robotsUsedpfuclt_ptcls::ParticleFilter::PFinitData
    statesPerRobotpfuclt_ptcls::ParticleFilter::PFinitData
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1PFinitData.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1PFinitData.html new file mode 100644 index 0000000..fad57f4 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1PFinitData.html @@ -0,0 +1,286 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::ParticleFilter::PFinitData Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::ParticleFilter::PFinitData Struct Reference
    +
    +
    + +

    The PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleFilter instance. + More...

    + +

    #include <pfuclt_particles.h>

    + + + + + +

    +Public Member Functions

     PFinitData (ros::NodeHandle &nh, const uint mainRobotID, const uint nTargets, const uint statesPerRobot, const uint nRobots, const uint nLandmarks, const std::vector< bool > &robotsUsed, const std::vector< Landmark > &landmarksMap)
     PFinitData. More...
     
    + + + + + + + + + + + + + + + + + +

    +Public Attributes

    const std::vector< Landmark > & landmarksMap
     
    const uint mainRobotID
     
    ros::NodeHandle & nh
     
    const uint nLandmarks
     
    const uint nRobots
     
    const uint nTargets
     
    const std::vector< bool > & robotsUsed
     
    const uint statesPerRobot
     
    +

    Detailed Description

    +

    The PFinitData struct - provides encapsulation to the initial data necessary to construct a ParticleFilter instance.

    + +

    Definition at line 173 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pfuclt_ptcls::ParticleFilter::PFinitData::PFinitData (ros::NodeHandle & nh,
    const uint mainRobotID,
    const uint nTargets,
    const uint statesPerRobot,
    const uint nRobots,
    const uint nLandmarks,
    const std::vector< bool > & robotsUsed,
    const std::vector< Landmark > & landmarksMap 
    )
    +     		+inline
    +
    + +

    PFinitData.

    +
    Parameters
    + + + + + + + + + + +
    nh- the node handle
    mainRobotID- the robot number where this algorithm will run on - affects the timings of iteration and estimation updates - consider that OMNI1 is ID1
    nTargets- the number of targets to consider
    statesPerRobot- the state space dimension for each robot
    nRobots- number of robots
    nLandmarks- number of landmarks
    robotsUsed- vector of bools mentioning if robots are being used, according to the standard robot ordering
    landmarksMap- vector of Landmark structs containing information on the landmark locations
    vectorwith values to be used in the RNG for the model sampling
    +
    +
    + +

    Definition at line 196 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    const std::vector<Landmark>& pfuclt_ptcls::ParticleFilter::PFinitData::landmarksMap
    +
    + +

    Definition at line 177 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    const uint pfuclt_ptcls::ParticleFilter::PFinitData::mainRobotID
    +
    + +

    Definition at line 175 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    ros::NodeHandle& pfuclt_ptcls::ParticleFilter::PFinitData::nh
    +
    + +

    Definition at line 178 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    const uint pfuclt_ptcls::ParticleFilter::PFinitData::nLandmarks
    +
    + +

    Definition at line 175 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    const uint pfuclt_ptcls::ParticleFilter::PFinitData::nRobots
    +
    + +

    Definition at line 175 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    const uint pfuclt_ptcls::ParticleFilter::PFinitData::nTargets
    +
    + +

    Definition at line 175 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    const std::vector<bool>& pfuclt_ptcls::ParticleFilter::PFinitData::robotsUsed
    +
    + +

    Definition at line 176 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    const uint pfuclt_ptcls::ParticleFilter::PFinitData::statesPerRobot
    +
    + +

    Definition at line 175 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State-members.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State-members.html new file mode 100644 index 0000000..28f2b64 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State-members.html @@ -0,0 +1,51 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::ParticleFilter::State Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::ParticleFilter::State, including all inherited members.

    + + + + + + + +
    nRobotspfuclt_ptcls::ParticleFilter::State
    nStatesPerRobotpfuclt_ptcls::ParticleFilter::State
    robotspfuclt_ptcls::ParticleFilter::State
    RobotState typedefpfuclt_ptcls::ParticleFilter::State
    State(const uint nStatesPerRobot, const uint nRobots)pfuclt_ptcls::ParticleFilter::Stateinline
    targetpfuclt_ptcls::ParticleFilter::State
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State.html new file mode 100644 index 0000000..3659c1a --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State.html @@ -0,0 +1,202 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::ParticleFilter::State Struct Reference + + + + + + + + + +
    +
    +Classes | +Public Types | +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::ParticleFilter::State Struct Reference
    +
    +
    + +

    The state_s struct - defines a structure to hold state information for the particle filter class. + More...

    + +

    #include <pfuclt_particles.h>

    + + + + + + + + +

    +Classes

    struct  robotState_s
     The robotState_s struct - saves information on the belief of a robot's state. More...
     
    struct  targetState_s
     The targetState_s struct - saves information on the belief of the target's state. More...
     
    + + + + +

    +Public Types

    typedef struct pfuclt_ptcls::ParticleFilter::State::robotState_s RobotState
     The robotState_s struct - saves information on the belief of a robot's state. More...
     
    + + + + +

    +Public Member Functions

     State (const uint nStatesPerRobot, const uint nRobots)
     State - constructor. More...
     
    + + + + + + + + + +

    +Public Attributes

    uint nRobots
     
    uint nStatesPerRobot
     
    std::vector< RobotState > robots
     
    struct pfuclt_ptcls::ParticleFilter::State::targetState_s target
     
    +

    Detailed Description

    +

    The state_s struct - defines a structure to hold state information for the particle filter class.

    + +

    Definition at line 123 of file pfuclt_particles.h.

    +

    Member Typedef Documentation

    + +
    +
    + + + + +
    typedef struct pfuclt_ptcls::ParticleFilter::State::robotState_s pfuclt_ptcls::ParticleFilter::State::RobotState
    +
    + +

    The robotState_s struct - saves information on the belief of a robot's state.

    + +
    +
    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    pfuclt_ptcls::ParticleFilter::State::State (const uint nStatesPerRobot,
    const uint nRobots 
    )
    +     		+inline
    +
    + +

    State - constructor.

    + +

    Definition at line 159 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    uint pfuclt_ptcls::ParticleFilter::State::nRobots
    +
    + +

    Definition at line 125 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    uint pfuclt_ptcls::ParticleFilter::State::nStatesPerRobot
    +
    + +

    Definition at line 126 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    std::vector<RobotState> pfuclt_ptcls::ParticleFilter::State::robots
    +
    + +

    Definition at line 139 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    struct pfuclt_ptcls::ParticleFilter::State::targetState_s pfuclt_ptcls::ParticleFilter::State::target
    +
    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1robotState__s-members.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1robotState__s-members.html new file mode 100644 index 0000000..5e1a74d --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1robotState__s-members.html @@ -0,0 +1,48 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::ParticleFilter::State::robotState_s, including all inherited members.

    + + + + +
    confpfuclt_ptcls::ParticleFilter::State::robotState_s
    posepfuclt_ptcls::ParticleFilter::State::robotState_s
    robotState_s(uint poseSize)pfuclt_ptcls::ParticleFilter::State::robotState_sinline
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1robotState__s.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1robotState__s.html new file mode 100644 index 0000000..6200834 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1robotState__s.html @@ -0,0 +1,127 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::ParticleFilter::State::robotState_s Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::ParticleFilter::State::robotState_s Struct Reference
    +
    +
    + +

    The robotState_s struct - saves information on the belief of a robot's state. + More...

    + +

    #include <pfuclt_particles.h>

    + + + + +

    +Public Member Functions

     robotState_s (uint poseSize)
     
    + + + + + +

    +Public Attributes

    pdata_t conf
     
    std::vector< pdata_t > pose
     
    +

    Detailed Description

    +

    The robotState_s struct - saves information on the belief of a robot's state.

    + +

    Definition at line 132 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + + +
    pfuclt_ptcls::ParticleFilter::State::robotState_s::robotState_s (uint poseSize)
    +     		+inline
    +
    + +

    Definition at line 137 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    pdata_t pfuclt_ptcls::ParticleFilter::State::robotState_s::conf
    +
    + +

    Definition at line 135 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    std::vector<pdata_t> pfuclt_ptcls::ParticleFilter::State::robotState_s::pose
    +
    + +

    Definition at line 134 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1targetState__s-members.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1targetState__s-members.html new file mode 100644 index 0000000..648f461 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1targetState__s-members.html @@ -0,0 +1,48 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::ParticleFilter::State::targetState_s, including all inherited members.

    + + + + +
    pospfuclt_ptcls::ParticleFilter::State::targetState_s
    seenpfuclt_ptcls::ParticleFilter::State::targetState_s
    targetState_s()pfuclt_ptcls::ParticleFilter::State::targetState_sinline
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1targetState__s.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1targetState__s.html new file mode 100644 index 0000000..0efc17f --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1State_1_1targetState__s.html @@ -0,0 +1,126 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::ParticleFilter::State::targetState_s Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::ParticleFilter::State::targetState_s Struct Reference
    +
    +
    + +

    The targetState_s struct - saves information on the belief of the target's state. + More...

    + +

    #include <pfuclt_particles.h>

    + + + + +

    +Public Member Functions

     targetState_s ()
     
    + + + + + +

    +Public Attributes

    std::vector< pdata_t > pos
     
    bool seen
     
    +

    Detailed Description

    +

    The targetState_s struct - saves information on the belief of the target's state.

    + +

    Definition at line 145 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + +
    pfuclt_ptcls::ParticleFilter::State::targetState_s::targetState_s ()
    +     		+inline
    +
    + +

    Definition at line 150 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    std::vector<pdata_t> pfuclt_ptcls::ParticleFilter::State::targetState_s::pos
    +
    + +

    Definition at line 147 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    bool pfuclt_ptcls::ParticleFilter::State::targetState_s::seen
    +
    + +

    Definition at line 148 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1dynamicVariables__s-members.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1dynamicVariables__s-members.html new file mode 100644 index 0000000..c5d9be6 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1dynamicVariables__s-members.html @@ -0,0 +1,53 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::ParticleFilter::dynamicVariables_s, including all inherited members.

    + + + + + + + + + +
    alphapfuclt_ptcls::ParticleFilter::dynamicVariables_s
    dynamicVariables_s(ros::NodeHandle &nh, const uint nRobots)pfuclt_ptcls::ParticleFilter::dynamicVariables_s
    fill_alpha(const uint robot, const std::string &str)pfuclt_ptcls::ParticleFilter::dynamicVariables_s
    firstCallbackpfuclt_ptcls::ParticleFilter::dynamicVariables_s
    nParticlespfuclt_ptcls::ParticleFilter::dynamicVariables_s
    oldTargetRandSTddevpfuclt_ptcls::ParticleFilter::dynamicVariables_s
    resamplingPercentageToKeeppfuclt_ptcls::ParticleFilter::dynamicVariables_s
    targetRandStddevpfuclt_ptcls::ParticleFilter::dynamicVariables_s
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1dynamicVariables__s.html b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1dynamicVariables__s.html new file mode 100644 index 0000000..6a1eedb --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1ParticleFilter_1_1dynamicVariables__s.html @@ -0,0 +1,221 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::ParticleFilter::dynamicVariables_s Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s Struct Reference
    +
    +
    + +

    #include <pfuclt_particles.h>

    + + + + + + +

    +Public Member Functions

     dynamicVariables_s (ros::NodeHandle &nh, const uint nRobots)
     
    void fill_alpha (const uint robot, const std::string &str)
     
    + + + + + + + + + + + + + +

    +Public Attributes

    std::vector< std::vector< float > > alpha
     
    bool firstCallback
     
    int nParticles
     
    double oldTargetRandSTddev
     
    double resamplingPercentageToKeep
     
    double targetRandStddev
     
    +

    Detailed Description

    +
    +

    Definition at line 104 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    pfuclt_ptcls::ParticleFilter::dynamicVariables_s::dynamicVariables_s (ros::NodeHandle & nh,
    const uint nRobots 
    )
    +
    + +

    Definition at line 1210 of file pfuclt_particles.cpp.

    + +
    +
    +

    Member Function Documentation

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void pfuclt_ptcls::ParticleFilter::dynamicVariables_s::fill_alpha (const uint robot,
    const std::string & str 
    )
    +
    + +

    Definition at line 1236 of file pfuclt_particles.cpp.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    std::vector<std::vector<float> > pfuclt_ptcls::ParticleFilter::dynamicVariables_s::alpha
    +
    + +

    Definition at line 111 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    bool pfuclt_ptcls::ParticleFilter::dynamicVariables_s::firstCallback
    +
    + +

    Definition at line 106 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    int pfuclt_ptcls::ParticleFilter::dynamicVariables_s::nParticles
    +
    + +

    Definition at line 107 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::ParticleFilter::dynamicVariables_s::oldTargetRandSTddev
    +
    + +

    Definition at line 110 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::ParticleFilter::dynamicVariables_s::resamplingPercentageToKeep
    +
    + +

    Definition at line 108 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::ParticleFilter::dynamicVariables_s::targetRandStddev
    +
    + +

    Definition at line 109 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following files: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1landmarkObs__s-members.html b/doc/html/c++/structpfuclt__ptcls_1_1landmarkObs__s-members.html new file mode 100644 index 0000000..52ec13c --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1landmarkObs__s-members.html @@ -0,0 +1,55 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::landmarkObs_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::landmarkObs_s, including all inherited members.

    + + + + + + + + + + + +
    covDDpfuclt_ptcls::landmarkObs_s
    covPPpfuclt_ptcls::landmarkObs_s
    covXXpfuclt_ptcls::landmarkObs_s
    covYYpfuclt_ptcls::landmarkObs_s
    dpfuclt_ptcls::landmarkObs_s
    foundpfuclt_ptcls::landmarkObs_s
    landmarkObs_s()pfuclt_ptcls::landmarkObs_sinline
    phipfuclt_ptcls::landmarkObs_s
    xpfuclt_ptcls::landmarkObs_s
    ypfuclt_ptcls::landmarkObs_s
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1landmarkObs__s.html b/doc/html/c++/structpfuclt__ptcls_1_1landmarkObs__s.html new file mode 100644 index 0000000..e3aaf8e --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1landmarkObs__s.html @@ -0,0 +1,234 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::landmarkObs_s Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::landmarkObs_s Struct Reference
    +
    +
    + +

    #include <pfuclt_particles.h>

    + + + + +

    +Public Member Functions

     landmarkObs_s ()
     
    + + + + + + + + + + + + + + + + + + + +

    +Public Attributes

    double covDD
     
    double covPP
     
    double covXX
     
    double covYY
     
    double d
     
    bool found
     
    double phi
     
    double x
     
    double y
     
    +

    Detailed Description

    +
    +

    Definition at line 70 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + +
    pfuclt_ptcls::landmarkObs_s::landmarkObs_s ()
    +     		+inline
    +
    + +

    Definition at line 76 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::covDD
    +
    + +

    Definition at line 75 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::covPP
    +
    + +

    Definition at line 75 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::covXX
    +
    + +

    Definition at line 75 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::covYY
    +
    + +

    Definition at line 75 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::d
    +
    + +

    Definition at line 74 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    bool pfuclt_ptcls::landmarkObs_s::found
    +
    + +

    Definition at line 72 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::phi
    +
    + +

    Definition at line 74 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::x
    +
    + +

    Definition at line 73 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::landmarkObs_s::y
    +
    + +

    Definition at line 73 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1odometry__s-members.html b/doc/html/c++/structpfuclt__ptcls_1_1odometry__s-members.html new file mode 100644 index 0000000..ace4398 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1odometry__s-members.html @@ -0,0 +1,48 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::odometry_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::odometry_s, including all inherited members.

    + + + + +
    thetapfuclt_ptcls::odometry_s
    xpfuclt_ptcls::odometry_s
    ypfuclt_ptcls::odometry_s
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1odometry__s.html b/doc/html/c++/structpfuclt__ptcls_1_1odometry__s.html new file mode 100644 index 0000000..739f6ef --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1odometry__s.html @@ -0,0 +1,106 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::odometry_s Struct Reference + + + + + + + + + +
    +
    +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::odometry_s Struct Reference
    +
    +
    + +

    #include <pfuclt_particles.h>

    + + + + + + + + +

    +Public Attributes

    double theta
     
    double x
     
    double y
     
    +

    Detailed Description

    +
    +

    Definition at line 65 of file pfuclt_particles.h.

    +

    Member Data Documentation

    + +
    +
    + + + + +
    double pfuclt_ptcls::odometry_s::theta
    +
    + +

    Definition at line 67 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::odometry_s::x
    +
    + +

    Definition at line 67 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::odometry_s::y
    +
    + +

    Definition at line 67 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1targetObs__s-members.html b/doc/html/c++/structpfuclt__ptcls_1_1targetObs__s-members.html new file mode 100644 index 0000000..e3bc2a1 --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1targetObs__s-members.html @@ -0,0 +1,57 @@ + +pfuclt_omni_dataset: Member List + + + + + + + + + +
    +
    +
    pfuclt_ptcls::targetObs_s Member List
    +
    +
    + +

    This is the complete list of members for pfuclt_ptcls::targetObs_s, including all inherited members.

    + + + + + + + + + + + + + +
    covDDpfuclt_ptcls::targetObs_s
    covPPpfuclt_ptcls::targetObs_s
    covXXpfuclt_ptcls::targetObs_s
    covYYpfuclt_ptcls::targetObs_s
    dpfuclt_ptcls::targetObs_s
    foundpfuclt_ptcls::targetObs_s
    phipfuclt_ptcls::targetObs_s
    rpfuclt_ptcls::targetObs_s
    targetObs_s()pfuclt_ptcls::targetObs_sinline
    xpfuclt_ptcls::targetObs_s
    ypfuclt_ptcls::targetObs_s
    zpfuclt_ptcls::targetObs_s
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/c++/structpfuclt__ptcls_1_1targetObs__s.html b/doc/html/c++/structpfuclt__ptcls_1_1targetObs__s.html new file mode 100644 index 0000000..a6fb3cd --- /dev/null +++ b/doc/html/c++/structpfuclt__ptcls_1_1targetObs__s.html @@ -0,0 +1,266 @@ + +pfuclt_omni_dataset: pfuclt_ptcls::targetObs_s Struct Reference + + + + + + + + + +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    pfuclt_ptcls::targetObs_s Struct Reference
    +
    +
    + +

    #include <pfuclt_particles.h>

    + + + + +

    +Public Member Functions

     targetObs_s ()
     
    + + + + + + + + + + + + + + + + + + + + + + + +

    +Public Attributes

    double covDD
     
    double covPP
     
    double covXX
     
    double covYY
     
    double d
     
    bool found
     
    double phi
     
    double r
     
    double x
     
    double y
     
    double z
     
    +

    Detailed Description

    +
    +

    Definition at line 79 of file pfuclt_particles.h.

    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + +
    + + + + + + + +
    pfuclt_ptcls::targetObs_s::targetObs_s ()
    +     		+inline
    +
    + +

    Definition at line 86 of file pfuclt_particles.h.

    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::covDD
    +
    + +

    Definition at line 84 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::covPP
    +
    + +

    Definition at line 84 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::covXX
    +
    + +

    Definition at line 84 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::covYY
    +
    + +

    Definition at line 84 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::d
    +
    + +

    Definition at line 83 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    bool pfuclt_ptcls::targetObs_s::found
    +
    + +

    Definition at line 81 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::phi
    +
    + +

    Definition at line 83 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::r
    +
    + +

    Definition at line 83 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::x
    +
    + +

    Definition at line 82 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::y
    +
    + +

    Definition at line 82 of file pfuclt_particles.h.

    + +
    +
    + +
    +
    + + + + +
    double pfuclt_ptcls::targetObs_s::z
    +
    + +

    Definition at line 82 of file pfuclt_particles.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +
    +pfuclt_omni_dataset
    +Author(s):
    +autogenerated on Mon Jul 3 2017 16:11:29 +
    + + diff --git a/doc/html/index-msg.html b/doc/html/index-msg.html index 4ce6306..2973db2 100644 --- a/doc/html/index-msg.html +++ b/doc/html/index-msg.html @@ -31,7 +31,7 @@

    Message types

    -

    autogenerated on Mon, 03 Jul 2017 15:58:36

    +

    autogenerated on Mon, 03 Jul 2017 16:11:30

    diff --git a/doc/html/index.html b/doc/html/index.html index 2da700c..0204034 100644 --- a/doc/html/index.html +++ b/doc/html/index.html @@ -10,7 +10,7 @@

    pfuclt_omni_dataset API Documentation

  • Particle Filter-Based Unified Cooperative Localization and Tracking
    • -

    autogenerated on Mon, 03 Jul 2017 15:58:36

    +

    autogenerated on Mon, 03 Jul 2017 16:11:30

    diff --git a/doc/html/msg/particle.html b/doc/html/msg/particle.html index 4d62e93..5514e14 100644 --- a/doc/html/msg/particle.html +++ b/doc/html/msg/particle.html @@ -26,7 +26,7 @@

    Compact Message Definition

    -

    autogenerated on Mon, 03 Jul 2017 15:58:36

    +

    autogenerated on Mon, 03 Jul 2017 16:11:30

    diff --git a/doc/html/msg/particles.html b/doc/html/msg/particles.html index 405b48a..67dc44c 100644 --- a/doc/html/msg/particles.html +++ b/doc/html/msg/particles.html @@ -26,7 +26,7 @@

    Compact Message Definition

    -

    autogenerated on Mon, 03 Jul 2017 15:58:36

    +

    autogenerated on Mon, 03 Jul 2017 16:11:30

    diff --git a/rosdoc.yaml b/rosdoc.yaml index c26ed93..db5e46f 100644 --- a/rosdoc.yaml +++ b/rosdoc.yaml @@ -2,4 +2,3 @@ name: Particle Filter-Based Unified Cooperative Localization and Tracking output_dir: c++ file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' - exclude_patterns: '*/include/*' \ No newline at end of file