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mrpt::poses::CPose3DPDFGaussian Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $.

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the method "CPose3DPDFGaussian::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also
CPose3D, CPose3DPDF, CPose3DPDFParticles

Definition at line 37 of file CPose3DPDFGaussian.h.

#include <mrpt/poses/CPose3DPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussian:
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Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3D type_value
 The type of the state the PDF represents. More...
 

Public Member Functions

 CPose3DPDFGaussian ()
 Default constructor. More...
 
 CPose3DPDFGaussian (const CPose3D &init_Mean)
 Constructor. More...
 
 CPose3DPDFGaussian (TConstructorFlags_Poses constructor_dummy_param)
 Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More...
 
 CPose3DPDFGaussian (const CPose3D &init_Mean, const CMatrixDouble66 &init_Cov)
 Constructor. More...
 
 CPose3DPDFGaussian (const CPosePDFGaussian &o)
 Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). More...
 
 CPose3DPDFGaussian (const CPose3DQuatPDFGaussian &o)
 Constructor from a 6D pose PDF described as a Quaternion. More...
 
const CPose3DgetPoseMean () const
 
CPose3DgetPoseMean ()
 
void getMean (CPose3D &mean_pose) const
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
void getCovarianceAndMean (CMatrixDouble66 &cov, CPose3D &mean_point) const
 Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...
 
void copyFrom (const CPose3DPDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPosePDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPose3DQuatPDFGaussian &o)
 Copy from a 6D pose PDF described as a Quaternion. More...
 
void saveToTextFile (const std::string &file) const
 Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase)
 this = p (+) this. More...
 
void drawSingleSample (CPose3D &outPart) const
 Draws a single sample from the distribution. More...
 
void drawManySamples (size_t N, std::vector< vector_double > &outSamples) const
 Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum. More...
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2)
 Bayesian fusion of two points gauss. More...
 
void inverse (CPose3DPDF &o) const
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3DPDFGaussian operator- () const
 Unary - operator, returns the PDF of the inverse pose. More...
 
void operator+= (const CPose3D &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
 
void operator+= (const CPose3DPDFGaussian &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
 
void operator-= (const CPose3DPDFGaussian &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More...
 
double evaluatePDF (const CPose3D &x) const
 Evaluates the PDF at a given point. More...
 
double evaluateNormalizedPDF (const CPose3D &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
 
double mahalanobisDistanceTo (const CPose3DPDFGaussian &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. More...
 
void getCovSubmatrix2D (CMatrixDouble &out_cov) const
 Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. More...
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...
 
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 
virtual void getMean (CPose3D &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual void getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose3D &mean_point) const=0
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
void getCovarianceDynAndMean (CMatrixDouble &cov, CPose3D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPose3D getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
void getCovariance (CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
void getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
virtual void getInformationMatrix (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...
 
virtual void drawSingleSample (CPose3D &outPart) const=0
 Draws a single sample from the distribution. More...
 
virtual void drawManySamples (size_t N, std::vector< vector_double > &outSamples) const
 Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 

Static Public Member Functions

static CPose3DPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF. More...
 
static void jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, CMatrixDouble66 &df_dx, CMatrixDouble66 &df_du)
 This static method computes the pose composition Jacobians. More...
 
static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

CPose3D mean
 The mean value. More...
 
CMatrixDouble66 cov
 The 6x6 covariance matrix. More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
static const size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCPose3DPDF
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

void assureSymmetry ()
 Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

RTTI stuff

typedef CPose3DPDFGaussianPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFGaussian
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFGaussian
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DPDFGaussianPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 93 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 95 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( )

Default constructor.

◆ CPose3DPDFGaussian() [2/6]

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3D init_Mean)
explicit

Constructor.

◆ CPose3DPDFGaussian() [3/6]

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( TConstructorFlags_Poses  constructor_dummy_param)

Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.

◆ CPose3DPDFGaussian() [4/6]

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3D init_Mean,
const CMatrixDouble66 &  init_Cov 
)

Constructor.

◆ CPose3DPDFGaussian() [5/6]

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPosePDFGaussian o)
explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).

◆ CPose3DPDFGaussian() [6/6]

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3DQuatPDFGaussian o)
explicit

Constructor from a 6D pose PDF described as a Quaternion.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::_GetBaseClass ( )
staticprotected

◆ assureSymmetry()

void mrpt::poses::CPose3DPDFGaussian::assureSymmetry ( )
protected

Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)

◆ bayesianFusion()

void mrpt::poses::CPose3DPDFGaussian::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
virtual

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

  • (x1,S1): Mean and variance of the p1 distribution.
  • (x2,S2): Mean and variance of the p2 distribution.
  • (x,S): Mean and variance of the resulting distribution.

S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );

Implements mrpt::poses::CPose3DPDF.

◆ changeCoordinatesReference()

void mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtual

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ copyFrom() [1/3]

void mrpt::poses::CPose3DPDFGaussian::copyFrom ( const CPose3DPDF o)
virtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implements mrpt::poses::CPose3DPDF.

◆ copyFrom() [2/3]

void mrpt::poses::CPose3DPDFGaussian::copyFrom ( const CPosePDF o)

Copy operator, translating if necesary (for example, between particles and gaussian representations)

◆ copyFrom() [3/3]

void mrpt::poses::CPose3DPDFGaussian::copyFrom ( const CPose3DQuatPDFGaussian o)

Copy from a 6D pose PDF described as a Quaternion.

◆ Create()

static CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::Create ( )
static

◆ createFrom2D()

static CPose3DPDF* mrpt::poses::CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.

This object must be deleted by the user when not required anymore.

See also
copyFrom

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::CreateObject ( )
static

◆ drawManySamples() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< vector_double > &  outSamples 
) const
inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 120 of file CProbabilityDensityFunction.h.

◆ drawManySamples() [2/2]

void mrpt::poses::CPose3DPDFGaussian::drawManySamples ( size_t  N,
std::vector< vector_double > &  outSamples 
) const

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.

◆ drawSingleSample() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void mrpt::poses::CPose3DPDFGaussian::drawSingleSample ( CPose3D outPart) const

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 132 of file CObject.h.

◆ evaluateNormalizedPDF()

double mrpt::poses::CPose3DPDFGaussian::evaluateNormalizedPDF ( const CPose3D x) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

◆ evaluatePDF()

double mrpt::poses::CPose3DPDFGaussian::evaluatePDF ( const CPose3D x) const

Evaluates the PDF at a given point.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 102 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 111 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 70 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 79 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 88 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3D mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

◆ getCovarianceAndMean() [2/2]

void mrpt::poses::CPose3DPDFGaussian::getCovarianceAndMean ( CMatrixDouble66 &  cov,
CPose3D mean_point 
) const
inline

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also
getMean

Definition at line 92 of file CPose3DPDFGaussian.h.

References mrpt::math::cov(), and mean().

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean ( CMatrixDouble cov,
CPose3D mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Definition at line 50 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 139 of file CProbabilityDensityFunction.h.

◆ getCovSubmatrix2D()

void mrpt::poses::CPose3DPDFGaussian::getCovSubmatrix2D ( CMatrixDouble &  out_cov) const

Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getInformationMatrix ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 101 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( CPose3D mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void mrpt::poses::CPose3DPDFGaussian::getMean ( CPose3D mean_pose) const
inline

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

See also
getCovariance

Definition at line 85 of file CPose3DPDFGaussian.h.

References mean().

Referenced by mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfStandardProposal().

◆ getMeanVal()

CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 60 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

const CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( ) const
inline

Definition at line 79 of file CPose3DPDFGaussian.h.

References mean().

◆ getPoseMean() [2/2]

CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( )
inline

Definition at line 80 of file CPose3DPDFGaussian.h.

References mean().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ inverse()

void mrpt::poses::CPose3DPDFGaussian::inverse ( CPose3DPDF o) const
virtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPose3DPDF.

◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )
inlinestaticinherited

Definition at line 94 of file CPose3DPDF.h.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )
inlinestaticinherited

Definition at line 96 of file CPose3DPDF.h.

◆ jacobiansPoseComposition()

static void mrpt::poses::CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
CMatrixDouble66 df_dx,
CMatrixDouble66 df_du 
)
staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D) U(6D)
| |
v v
X(7D) U(7D)
| |
+--- (+) ---+
|
v
RES(7D)
|
v
RES(6D)

◆ mahalanobisDistanceTo()

double mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo ( const CPose3DPDFGaussian theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

◆ operator+=() [1/2]

void mrpt::poses::CPose3DPDFGaussian::operator+= ( const CPose3D Ap)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

◆ operator+=() [2/2]

void mrpt::poses::CPose3DPDFGaussian::operator+= ( const CPose3DPDFGaussian Ap)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

◆ operator-()

CPose3DPDFGaussian mrpt::poses::CPose3DPDFGaussian::operator- ( ) const
inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 143 of file CPose3DPDFGaussian.h.

References mrpt::pbmap::inverse(), and mrpt::poses::UNINITIALIZED_POSE.

◆ operator-=()

void mrpt::poses::CPose3DPDFGaussian::operator-= ( const CPose3DPDFGaussian Ap)

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).

◆ readFromStream()

void mrpt::poses::CPose3DPDFGaussian::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ saveToTextFile()

void mrpt::poses::CPose3DPDFGaussian::saveToTextFile ( const std::string &  file) const
virtual

Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ writeToStream()

void mrpt::poses::CPose3DPDFGaussian::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CPose3DPDFGaussian

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFGaussian::_init_CPose3DPDFGaussian
staticprotected

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 120 of file CObject.h.

◆ classCPose3DPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF
staticinherited

Definition at line 44 of file CPose3DPDF.h.

◆ classCPose3DPDFGaussian

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFGaussian::classCPose3DPDFGaussian
static

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 35 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::classinfo
static

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ cov

CMatrixDouble66 mrpt::poses::CPose3DPDFGaussian::cov

The 6x6 covariance matrix.

Definition at line 77 of file CPose3DPDFGaussian.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist().

◆ mean

CPose3D mrpt::poses::CPose3DPDFGaussian::mean

The mean value.

Definition at line 73 of file CPose3DPDFGaussian.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::state_length
staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 34 of file CProbabilityDensityFunction.h.




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