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gridslamprocessor_tree.cpp
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gridslamprocessor_tree.cpp
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#include <string>
#include <deque>
#include <list>
#include <map>
#include <set>
#include <fstream>
//#include <gsl/gsl_blas.h>
#include <gmapping/utils/stat.h>
#include <gmapping/gridfastslam/gridslamprocessor.h>
namespace GMapping {
using namespace std;
GridSlamProcessor::TNode::TNode(const OrientedPoint& p, double w, TNode* n, unsigned int c){
pose=p;
weight=w;
childs=c;
parent=n;
reading=0;
gweight=0;
if (n){
n->childs++;
}
flag=0;
accWeight=0;
}
GridSlamProcessor::TNode::~TNode(){
if (parent && (--parent->childs)<=0)
delete parent;
assert(!childs);
}
//BEGIN State Save/Restore
GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
TNodeVector v;
TNodeMultimap parentCache;
TNodeDeque border;
for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
TNode* node=it->node;
while(node){
node->flag=false;
node=node->parent;
}
}
for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
TNode* newnode=new TNode(* (it->node) );
v.push_back(newnode);
assert(newnode->childs==0);
if (newnode->parent){
parentCache.insert(make_pair(newnode->parent, newnode));
//cerr << __PRETTY_FUNCTION__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
if (! newnode->parent->flag){
//cerr << __PRETTY_FUNCTION__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
newnode->parent->flag=true;
border.push_back(newnode->parent);
}
}
}
//cerr << __PRETTY_FUNCTION__ << ": border.size(INITIAL)=" << border.size() << endl;
//cerr << __PRETTY_FUNCTION__ << ": parentCache.size()=" << parentCache.size() << endl;
while (! border.empty()){
//cerr << __PRETTY_FUNCTION__ << ": border.size(PREPROCESS)=" << border.size() << endl;
//cerr << __PRETTY_FUNCTION__ << ": parentCache.size(PREPROCESS)=" << parentCache.size() << endl;
const TNode* node=border.front();
//cerr << __PRETTY_FUNCTION__ << ": node " << node << endl;
border.pop_front();
if (! node)
continue;
TNode* newnode=new TNode(*node);
node->flag=false;
//update the parent of all of the referring childs
pair<TNodeMultimap::iterator, TNodeMultimap::iterator> p=parentCache.equal_range(node);
double childs=0;
for (TNodeMultimap::iterator it=p.first; it!=p.second; it++){
assert(it->second->parent==it->first);
(it->second)->parent=newnode;
//cerr << "PS(" << it->first << ", "<< it->second << ")";
childs++;
}
////cerr << endl;
parentCache.erase(p.first, p.second);
//cerr << __PRETTY_FUNCTION__ << ": parentCache.size(POSTERASE)=" << parentCache.size() << endl;
assert(childs==newnode->childs);
//unmark the node
if ( node->parent ){
parentCache.insert(make_pair(node->parent, newnode));
if(! node->parent->flag){
border.push_back(node->parent);
node->parent->flag=true;
}
}
//insert the parent in the cache
}
//cerr << __PRETTY_FUNCTION__ << " : checking cloned trajectories" << endl;
for (unsigned int i=0; i<v.size(); i++){
TNode* node= v[i];
while (node){
//cerr <<".";
node=node->parent;
}
//cerr << endl;
}
return v;
}
void GridSlamProcessor::integrateScanSequence(GridSlamProcessor::TNode* node){
//reverse the list
TNode* aux=node;
TNode* reversed=0;
double count=0;
while(aux!=0){
TNode * newnode=new TNode(*aux);
newnode->parent=reversed;
reversed=newnode;
aux=aux->parent;
count++;
}
//attach the path to each particle and compute the map;
if (m_infoStream )
m_infoStream << "Restoring State Nodes=" <<count << endl;
aux=reversed;
bool first=true;
double oldWeight=0;
OrientedPoint oldPose;
while (aux!=0){
if (first){
oldPose=aux->pose;
first=false;
oldWeight=aux->weight;
}
OrientedPoint dp=aux->pose-oldPose;
double dw=aux->weight-oldWeight;
oldPose=aux->pose;
double * plainReading = new double[m_beams];
for(unsigned int i=0; i<m_beams; i++)
plainReading[i]=(*(aux->reading))[i];
for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){
//compute the position relative to the path;
double s=sin(oldPose.theta-it->pose.theta),
c=cos(oldPose.theta-it->pose.theta);
it->pose.x+=c*dp.x-s*dp.y;
it->pose.y+=s*dp.x+c*dp.y;
it->pose.theta+=dp.theta;
it->pose.theta=atan2(sin(it->pose.theta), cos(it->pose.theta));
//register the scan
m_matcher.invalidateActiveArea();
m_matcher.computeActiveArea(it->map, it->pose, plainReading);
it->weight+=dw;
it->weightSum+=dw;
// this should not work, since it->weight is not the correct weight!
// it->node=new TNode(it->pose, it->weight, it->node);
it->node=new TNode(it->pose, 0.0, it->node);
//update the weight
}
delete [] plainReading;
aux=aux->parent;
}
//destroy the path
aux=reversed;
while (reversed){
aux=reversed;
reversed=reversed->parent;
delete aux;
}
}
//END State Save/Restore
//BEGIN
void GridSlamProcessor::updateTreeWeights(bool weightsAlreadyNormalized){
if (!weightsAlreadyNormalized) {
normalize();
}
resetTree();
propagateWeights();
}
void GridSlamProcessor::resetTree(){
// don't calls this function directly, use updateTreeWeights(..) !
for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){
TNode* n=it->node;
while (n){
n->accWeight=0;
n->visitCounter=0;
n=n->parent;
}
}
}
double propagateWeight(GridSlamProcessor::TNode* n, double weight){
if (!n)
return weight;
double w=0;
n->visitCounter++;
n->accWeight+=weight;
if (n->visitCounter==n->childs){
w=propagateWeight(n->parent,n->accWeight);
}
assert(n->visitCounter<=n->childs);
return w;
}
double GridSlamProcessor::propagateWeights(){
// don't calls this function directly, use updateTreeWeights(..) !
// all nodes must be resetted to zero and weights normalized
// the accumulated weight of the root
double lastNodeWeight=0;
// sum of the weights in the leafs
double aw=0;
std::vector<double>::iterator w=m_weights.begin();
for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){
double weight=*w;
aw+=weight;
TNode * n=it->node;
n->accWeight=weight;
lastNodeWeight+=propagateWeight(n->parent,n->accWeight);
w++;
}
if (fabs(aw-1.0) > 0.0001 || fabs(lastNodeWeight-1.0) > 0.0001) {
cerr << "ERROR: ";
cerr << "root->accWeight=" << lastNodeWeight << " sum_leaf_weights=" << aw << endl;
assert(0);
}
return lastNodeWeight;
}
};
//END