Arak::ArakPosteriorSonarObs Class Reference

#include <sonar_obs.hpp>

Inheritance diagram for Arak::ArakPosteriorSonarObs:

[legend]Collaboration diagram for Arak::ArakPosteriorSonarObs:

[legend]List of all members.

Detailed Description

An posterior Arak process conditioned on localized sonar measurements with Gaussian noise.

Definition at line 222 of file sonar_obs.hpp.

Public Member Functions

ArakPosteriorSonarObs (const ArakProcess &prior, const Arak::Util::PropertyMap &props)

Stream constructor.

virtual ~ArakPosteriorSonarObs ()

Destructor.

const Geometry::Rectangle & boundary () const

Returns a const reference to a rectangle that encloses the observed data.

virtual double scale () const

Returns the scale of this Arak process.

virtual double logMeasure () const

Computes the (log) measure associated with the Arak process for the coloring.

virtual double potential () const

Computes the potential associated with this posterior Arak process.

virtual void visualize (CGAL::Qt_widget &widget) const

Renders a graphical representation of this Arak posterior using the supplied widget.

virtual void update (const Geometry::Point &a, const Geometry::Point &b, const Geometry::Point &c)

This method recalculates the likelihood of all observations that are out of date and are sensitive to a given triangle.

virtual void recolored (const Geometry::Point &a, const Geometry::Point &b, const Geometry::Point &c)

This method is invoked to inform this process that the triangle with the supplied vertices has been recolored.

virtual void recolored (const Geometry::Point &a, const Geometry::Point &b, const Geometry::Point &c, const Geometry::Point &d)

This method is invoked to inform this process that the quadrilateral with the supplied vertices has been recolored.

double returnProb (const SonarImpact &impact) const

Computes the probability of obtaining a sonar return given the location and orientation of the sensor and the position of the impact face.

double distLikelihood (const SonarImpact &impact, const double obs) const

Returns the likelihood of obtaining an observed sonar range given a true sonar impact.

template<typename ImpactIterator> double likelihood (double range, ImpactIterator begin, ImpactIterator end) const

Computes the likelihood of a sonar range reading given a set of true sonar impacts.

Protected Types

typedef PointerHandle< SonarObs > SonarObsHandle

typedef Grid< SonarObsHandle > SonarObsIndex

A grid where each cell stores handles to all observations whose cones intersect the cell's boundary.

Protected Member Functions

double updateObsLP (SonarObs &o, bool init=false) const

Updates the log probability of the supplied observation under the current coloring and process parameters.

Protected Attributes

const ArakProcess & prior

The prior process.

std::vector< SonarObs * > obs

An array of the observations.

SonarObsIndex * obsIndex

An index of the observations.

unsigned long int updateId

The update sequence number.

double aperture

The width of the sonar cones (in radians).

double maxRange

This is the sonar measurement obtained when the sensor does not impact a surface.

double prob_max_range

The probability of obtaining a max-range measurement given the reading is not generated by a sonar contact.

double unif_outlier_weight

The weight of a uniform model for outlier measurements.

double exp_outlier_coef

The parameter of an exponential model for outlier measurements.

double face_const_coef

The constant coefficient (or bias) of the logistic return probability model for face features.

double face_proj_angle_coef

The coefficient of the projection angle term in the logistic return probability model for face features.

double face_min_range_coef

The coefficient of the minimum range term in the logistic return probability model for face features.

double face_vis_angle_coef

The coefficient of the visible angle term in the logistic return probability model for face features.

double corner_const_coef

The constant coefficient (or bias) of the logistic return probability model for corner features.

double corner_range_coef

The coefficient of the range term in the logistic return probability model for corner features.

double faceRelErrStDev

The standard deviation in sonar face range measurements, expressed as relative error.

double cornerRelErrStDev

The standard deviation in sonar corner range measurements, expressed as relative error.

double lp

The current potential arising from observations.

Member Typedef Documentation

typedef PointerHandle<SonarObs> Arak::ArakPosteriorSonarObs::SonarObsHandle [protected]

Definition at line 228 of file sonar_obs.hpp.
Referenced by update(), and updateObsLP().

typedef Grid<SonarObsHandle> Arak::ArakPosteriorSonarObs::SonarObsIndex [protected]

A grid where each cell stores handles to all observations whose cones intersect the cell's boundary.

Definition at line 234 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs().

Constructor & Destructor Documentation

ArakPosteriorSonarObs::ArakPosteriorSonarObs ( const ArakProcess & prior,

const Arak::Util::PropertyMap & props

)

Stream constructor.
The observations are read from a file of numbers with the following format:

* n * source-1-x source-1-y angle-1 range-1 * source-2-x source-2-y angle-2 range-2 * ... * source-n-x source-n-y angle-n range-n *

Parameters:

coloring The coloring whose probability is evaluated. This is fixed for each process object so that likelihood changes due to coloring updates can be processed efficiently.

props the properties that define the posterior

Definition at line 198 of file sonar_obs.cpp.
References Arak::Coloring::addListener(), Arak::Coloring::addQueryPoints(), aperture, Arak::Coloring::boundary(), corner_const_coef, corner_range_coef, cornerRelErrStDev, exp_outlier_coef, face_const_coef, face_min_range_coef, face_proj_angle_coef, face_vis_angle_coef, faceRelErrStDev, Arak::ArakProcess::getColoring(), Arak::Geometry::Point, prob_max_range, Arak::Util::PropertyMap, Arak::Geometry::Rectangle, SonarObsIndex, unif_outlier_weight, and updateObsLP().

ArakPosteriorSonarObs::~ArakPosteriorSonarObs ( ) [virtual]

Destructor.

Definition at line 379 of file sonar_obs.cpp.

Member Function Documentation

const Geometry::Rectangle& Arak::ArakPosteriorSonarObs::boundary ( ) const [inline]

Returns a const reference to a rectangle that encloses the observed data.

Definition at line 473 of file sonar_obs.hpp.
References Arak::Grid< ItemType >::boundary(), and Arak::Geometry::Rectangle.

double Arak::ArakPosteriorSonarObs::distLikelihood ( const SonarImpact & impact,

const double obs

) const [inline]

Returns the likelihood of obtaining an observed sonar range given a true sonar impact.
This model is a Gaussian model with multiplicative noise.

Parameters:

impact the impact

obs the observed sonar range

Returns:
the likelihood of the observation given the impact

Definition at line 591 of file sonar_obs.hpp.
References cornerRelErrStDev, faceRelErrStDev, Arak::SonarImpact::isCorner(), and Arak::SonarImpact::min_range.
Referenced by likelihood().

template<typename ImpactIterator>

double Arak::ArakPosteriorSonarObs::likelihood ( double range,

ImpactIterator begin,

ImpactIterator end

) const [inline]

Computes the likelihood of a sonar range reading given a set of true sonar impacts.

Definition at line 606 of file sonar_obs.hpp.
References distLikelihood(), exp_outlier_coef, prob_max_range, returnProb(), and unif_outlier_weight.
Referenced by updateObsLP().

double ArakPosteriorSonarObs::logMeasure ( ) const [virtual]

Computes the (log) measure associated with the Arak process for the coloring.
(This is actually multiplied by an elementary Poisson measure over the vertex locations to yield the coloring measure.)

Returns:
the measure of the coloring

Implements Arak::ArakProcess.
Definition at line 371 of file sonar_obs.cpp.
References Arak::ArakProcess::logMeasure().

double ArakPosteriorSonarObs::potential ( ) const [virtual]

Computes the potential associated with this posterior Arak process.

Returns:
the current potential

See also:
ArakProcess

Implements Arak::ArakProcess.
Definition at line 375 of file sonar_obs.cpp.
References Arak::ArakProcess::potential().

void ArakPosteriorSonarObs::recolored ( const Geometry::Point & a,

const Geometry::Point & b,

const Geometry::Point & c,

const Geometry::Point & d

) [virtual]

This method is invoked to inform this process that the quadrilateral with the supplied vertices has been recolored.
The vertices are supplied in either clockwise or counter-clockwise order. Note that this quadrilateral is simple, but not necessarily convex.

Parameters:

a the first vertex of the quadrilateral

b the second vertex of the quadrilateral

c the third vertex of the quadrilateral

d the fourth vertex of the quadrilateral

Reimplemented from Arak::Coloring::Listener.
Definition at line 466 of file sonar_obs.cpp.
References Arak::Geometry::Point, and update().

void ArakPosteriorSonarObs::recolored ( const Geometry::Point & a,

const Geometry::Point & b,

const Geometry::Point & c

) [virtual]

This method is invoked to inform this process that the triangle with the supplied vertices has been recolored.

Parameters:

a the first vertex of the triangle

b the second vertex of the triangle

c the third vertex of the triangle

Reimplemented from Arak::Coloring::Listener.
Definition at line 459 of file sonar_obs.cpp.
References Arak::Geometry::Point, and update().

double Arak::ArakPosteriorSonarObs::returnProb ( const SonarImpact & impact ) const [inline]

Computes the probability of obtaining a sonar return given the location and orientation of the sensor and the position of the impact face.
The returned probability is given by the following logistic model:
$p = \frac{1}{1 + \exp \left\{ a + b \log \sin \theta + cr + d\phi \right\}}$
where $\theta$ is the impact's projection angle, $r$ is the impact's minimum range, $\phi$ is the impact's visible angle, $a$ , $b$ , $c$ and $d$ are model parameters.

Parameters:

impact the impact

Returns:
the probability a sonar return is generated from the supplied impact (given the model parameters)

Definition at line 569 of file sonar_obs.hpp.
References corner_const_coef, corner_range_coef, face_const_coef, face_min_range_coef, face_proj_angle_coef, face_vis_angle_coef, Arak::SonarImpact::isCorner(), Arak::SonarImpact::min_range, Arak::SonarImpact::proj_angle, and Arak::SonarImpact::visible_angle.
Referenced by likelihood().

virtual double Arak::ArakPosteriorSonarObs::scale ( ) const [inline, virtual]

Returns the scale of this Arak process.

Implements Arak::ArakProcess.
Definition at line 480 of file sonar_obs.hpp.
References Arak::ArakProcess::scale().

void ArakPosteriorSonarObs::update ( const Geometry::Point & a,

const Geometry::Point & b,

const Geometry::Point & c

) [virtual]

This method recalculates the likelihood of all observations that are out of date and are sensitive to a given triangle.

Parameters:

a the first vertex of the triangle

b the second vertex of the triangle

c the third vertex of the triangle

Definition at line 433 of file sonar_obs.cpp.
References Arak::Geometry::Point, SonarObsHandle, Arak::Geometry::Triangle, and updateObsLP().
Referenced by recolored().

void ArakPosteriorSonarObs::visualize ( CGAL::Qt_widget & widget ) const [virtual]

Renders a graphical representation of this Arak posterior using the supplied widget.
The Gaussian observations are rendered as disks of varying gray level.

Parameters:

widget the widget on which to visualize the process

Reimplemented from Arak::ArakProcess.
Definition at line 386 of file sonar_obs.cpp.
References Arak::jet_colors, Arak::jet_size, Arak::ArakPosteriorSonarObs::SonarObs::lp, Arak::ArakPosteriorSonarObs::SonarObs::max, Arak::ArakPosteriorSonarObs::SonarObs::min, Arak::Geometry::Point, Arak::ArakPosteriorSonarObs::SonarObs::range, Arak::Geometry::Segment, Arak::ArakPosteriorSonarObs::SonarObs::source, and Arak::Geometry::Vector.

Member Data Documentation

double Arak::ArakPosteriorSonarObs::aperture [protected]

The width of the sonar cones (in radians).

Definition at line 353 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs().

double Arak::ArakPosteriorSonarObs::corner_const_coef [protected]

The constant coefficient (or bias) of the logistic return probability model for corner features.

Definition at line 405 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and returnProb().

double Arak::ArakPosteriorSonarObs::corner_range_coef [protected]

The coefficient of the range term in the logistic return probability model for corner features.

Definition at line 411 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and returnProb().

double Arak::ArakPosteriorSonarObs::cornerRelErrStDev [protected]

The standard deviation in sonar corner range measurements, expressed as relative error.
For example, a value of 0.01 would signify that the standard deviation of range measurements to a corner at range $d$ is $0.01 \times d$ .
Definition at line 427 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), distLikelihood(), and updateObsLP().

double Arak::ArakPosteriorSonarObs::exp_outlier_coef [protected]

The parameter of an exponential model for outlier measurements.

Definition at line 375 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and likelihood().

double Arak::ArakPosteriorSonarObs::face_const_coef [protected]

The constant coefficient (or bias) of the logistic return probability model for face features.

Definition at line 381 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and returnProb().

double Arak::ArakPosteriorSonarObs::face_min_range_coef [protected]

The coefficient of the minimum range term in the logistic return probability model for face features.

Definition at line 393 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and returnProb().

double Arak::ArakPosteriorSonarObs::face_proj_angle_coef [protected]

The coefficient of the projection angle term in the logistic return probability model for face features.

Definition at line 387 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and returnProb().

double Arak::ArakPosteriorSonarObs::face_vis_angle_coef [protected]

The coefficient of the visible angle term in the logistic return probability model for face features.

Definition at line 399 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and returnProb().

double Arak::ArakPosteriorSonarObs::faceRelErrStDev [protected]

The standard deviation in sonar face range measurements, expressed as relative error.
For example, a value of 0.01 would signify that the standard deviation of range measurements to a surface at range $d$ is $0.01 \times d$ .
Definition at line 419 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), distLikelihood(), and updateObsLP().

double Arak::ArakPosteriorSonarObs::lp [protected]

The current potential arising from observations.

Definition at line 432 of file sonar_obs.hpp.

double Arak::ArakPosteriorSonarObs::maxRange [protected]

This is the sonar measurement obtained when the sensor does not impact a surface.

Definition at line 359 of file sonar_obs.hpp.

std::vector<SonarObs*> Arak::ArakPosteriorSonarObs::obs [protected]

An array of the observations.

Definition at line 338 of file sonar_obs.hpp.

SonarObsIndex* Arak::ArakPosteriorSonarObs::obsIndex [protected]

An index of the observations.

Definition at line 343 of file sonar_obs.hpp.

const ArakProcess& Arak::ArakPosteriorSonarObs::prior [protected]

The prior process.

Definition at line 333 of file sonar_obs.hpp.

double Arak::ArakPosteriorSonarObs::prob_max_range [protected]

The probability of obtaining a max-range measurement given the reading is not generated by a sonar contact.

Definition at line 365 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and likelihood().

double Arak::ArakPosteriorSonarObs::unif_outlier_weight [protected]

The weight of a uniform model for outlier measurements.

Definition at line 370 of file sonar_obs.hpp.
Referenced by ArakPosteriorSonarObs(), and likelihood().

unsigned long int Arak::ArakPosteriorSonarObs::updateId [protected]

The update sequence number.

Definition at line 348 of file sonar_obs.hpp.

The documentation for this class was generated from the following files:

Generated on Wed May 25 14:41:35 2005 for Arak by

1.3.6


Public Member Functions
	ArakPosteriorSonarObs (const ArakProcess &prior, const Arak::Util::PropertyMap &props)
	Stream constructor.
virtual	~ArakPosteriorSonarObs ()
	Destructor.
const Geometry::Rectangle &	boundary () const
	Returns a const reference to a rectangle that encloses the observed data.
virtual double	scale () const
	Returns the scale of this Arak process.
virtual double	logMeasure () const
	Computes the (log) measure associated with the Arak process for the coloring.
virtual double	potential () const
	Computes the potential associated with this posterior Arak process.
virtual void	visualize (CGAL::Qt_widget &widget) const
	Renders a graphical representation of this Arak posterior using the supplied widget.
virtual void	update (const Geometry::Point &a, const Geometry::Point &b, const Geometry::Point &c)
	This method recalculates the likelihood of all observations that are out of date and are sensitive to a given triangle.
virtual void	recolored (const Geometry::Point &a, const Geometry::Point &b, const Geometry::Point &c)
	This method is invoked to inform this process that the triangle with the supplied vertices has been recolored.
virtual void	recolored (const Geometry::Point &a, const Geometry::Point &b, const Geometry::Point &c, const Geometry::Point &d)
	This method is invoked to inform this process that the quadrilateral with the supplied vertices has been recolored.
double	returnProb (const SonarImpact &impact) const
	Computes the probability of obtaining a sonar return given the location and orientation of the sensor and the position of the impact face.
double	distLikelihood (const SonarImpact &impact, const double obs) const
	Returns the likelihood of obtaining an observed sonar range given a true sonar impact.
template<typename ImpactIterator> double	likelihood (double range, ImpactIterator begin, ImpactIterator end) const
	Computes the likelihood of a sonar range reading given a set of true sonar impacts.
Protected Types
typedef PointerHandle< SonarObs >	SonarObsHandle
typedef Grid< SonarObsHandle >	SonarObsIndex
	A grid where each cell stores handles to all observations whose cones intersect the cell's boundary.
Protected Member Functions
double	updateObsLP (SonarObs &o, bool init=false) const
	Updates the log probability of the supplied observation under the current coloring and process parameters.
Protected Attributes
const ArakProcess &	prior
	The prior process.
std::vector< SonarObs * >	obs
	An array of the observations.
SonarObsIndex *	obsIndex
	An index of the observations.
unsigned long int	updateId
	The update sequence number.
double	aperture
	The width of the sonar cones (in radians).
double	maxRange
	This is the sonar measurement obtained when the sensor does not impact a surface.
double	prob_max_range
	The probability of obtaining a max-range measurement given the reading is not generated by a sonar contact.
double	unif_outlier_weight
	The weight of a uniform model for outlier measurements.
double	exp_outlier_coef
	The parameter of an exponential model for outlier measurements.
double	face_const_coef
	The constant coefficient (or bias) of the logistic return probability model for face features.
double	face_proj_angle_coef
	The coefficient of the projection angle term in the logistic return probability model for face features.
double	face_min_range_coef
	The coefficient of the minimum range term in the logistic return probability model for face features.
double	face_vis_angle_coef
	The coefficient of the visible angle term in the logistic return probability model for face features.
double	corner_const_coef
	The constant coefficient (or bias) of the logistic return probability model for corner features.
double	corner_range_coef
	The coefficient of the range term in the logistic return probability model for corner features.
double	faceRelErrStDev
	The standard deviation in sonar face range measurements, expressed as relative error.
double	cornerRelErrStDev
	The standard deviation in sonar corner range measurements, expressed as relative error.
double	lp
	The current potential arising from observations.