Amcl Class Reference

Amcl Class Reference#

Beluga ROS: beluga_ros::Amcl Class Reference

Beluga ROS

#include <amcl.hpp>

Public Types
using	particle_type = std::tuple< Sophus::SE2d, beluga::Weight >
	Weighted SE(2) state particle type.

using	motion_model_variant = std::variant< beluga::DifferentialDriveModel2d, beluga::OmnidirectionalDriveModel, beluga::StationaryModel >
	Motion model variant type for runtime selection support.

using	sensor_model_variant = std::variant< beluga::LikelihoodFieldModel< beluga_ros::OccupancyGrid >, beluga::BeamSensorModel< beluga_ros::OccupancyGrid > >
	Sensor model variant type for runtime selection support.

using	execution_policy_variant = std::variant< std::execution::sequenced_policy, std::execution::parallel_policy >
	Execution policy variant type for runtime selection support.

Public Member Functions
	Amcl (beluga_ros::OccupancyGrid map, motion_model_variant motion_model, sensor_model_variant sensor_model, const AmclParams &params, execution_policy_variant execution_policy)
	Constructor. More...

const auto &	particles () const
	Returns a reference to the current set of particles.

template<class Distribution >
void	initialize (Distribution distribution)
	Initialize particles using a custom distribution.

void	initialize (Sophus::SE2d pose, Sophus::Matrix3d covariance)
	Initialize particles with a given pose and covariance. More...

void	initialize_from_map ()
	Initialize particles using the default map distribution.

void	update_map (beluga_ros::OccupancyGrid map)
	Update the map used for localization.

auto	update (Sophus::SE2d base_pose_in_odom, beluga_ros::LaserScan laser_scan) -> std::optional< std::pair< Sophus::SE2d, Sophus::Matrix3d >>
	Update particles based on motion and sensor information. More...

void	force_update ()
	Force a manual update of the particles on the next iteration of the filter.

Detailed Description

Implementation of the 2D Adaptive Monte Carlo Localization (AMCL) algorithm. Generic two-dimensional implementation of the Adaptive Monte Carlo Localization (AMCL) algorithm in 2D.

Constructor & Destructor Documentation

◆ Amcl()

beluga_ros::Amcl::Amcl	(	beluga_ros::OccupancyGrid	map,
		motion_model_variant	motion_model,
		sensor_model_variant	sensor_model,
		const AmclParams &	params,
		execution_policy_variant	execution_policy
	)

Constructor.

Parameters

map	Occupancy grid map.
motion_model	Variant of motion model.
sensor_model	Variant of sensor model.
params	Parameters for AMCL implementation.
execution_policy	Variant of execution policy.

Member Function Documentation

◆ initialize()

void beluga_ros::Amcl::initialize	(	Sophus::SE2d	pose,
		Sophus::Matrix3d	covariance
	)

inline

Initialize particles with a given pose and covariance.

Exceptions

std::runtime_error If the provided covariance is invalid.

◆ update()

auto beluga_ros::Amcl::update	(	Sophus::SE2d	base_pose_in_odom,
		beluga_ros::LaserScan	laser_scan
	)		-> std::optional< std::pair< Sophus::SE2d, Sophus::Matrix3d >>

Update particles based on motion and sensor information.

This method performs a particle filter update step using motion and sensor data. It evaluates whether an update is necessary based on the configured update policy and the force_update flag. If an update is required, the motion model and sensor model updates are applied to the particles, and the particle weights are adjusted accordingly. Also, according to the configured resampling policy, the particles are resampled to maintain diversity and prevent degeneracy.