Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose .
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.
See mrpt::poses::CPose3DPDF for more details.
Definition at line 34 of file CPose3DPDFSOG.h.
#include <mrpt/poses/CPose3DPDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode: More... | |
Public Types | |
typedef mrpt::aligned_containers< TGaussianMode >::vector_t | TModesList |
typedef TModesList::const_iterator | const_iterator |
typedef TModesList::iterator | iterator |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
typedef CPose3D | type_value |
The type of the state the PDF represents. More... | |
typedef CProbabilityDensityFunction< CPose3D, STATE_LEN > | self_t |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CPose3DPDFSOG (size_t nModes=1) | |
Default constructor. More... | |
void | clear () |
Clear all the gaussian modes. More... | |
void | resize (const size_t N) |
Set the number of SOG modes. More... | |
size_t | size () const |
Return the number of Gaussian modes. More... | |
bool | empty () const |
Return whether there is any Gaussian mode. More... | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
void | getMean (CPose3D &mean_pose) const MRPT_OVERRIDE |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_OVERRIDE |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More... | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. More... | |
void | getMostLikelyMode (CPose3DPDFGaussian &outVal) const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More... | |
void | copyFrom (const CPose3DPDF &o) MRPT_OVERRIDE |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | saveToTextFile (const std::string &file) const MRPT_OVERRIDE |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE |
this = p (+) this. More... | |
void | bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) More... | |
void | drawSingleSample (CPose3D &outPart) const MRPT_OVERRIDE |
Draws a single sample from the distribution. More... | |
void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE |
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More... | |
void | inverse (CPose3DPDF &o) const MRPT_OVERRIDE |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | appendFrom (const CPose3DPDFSOG &o) |
Append the Gaussian modes from "o" to the current set of modes of "this" density. 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... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. 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 (mrpt::math::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 (mrpt::math::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 (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
void | getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
virtual bool | isInfType () const |
Returns whether the class instance holds the uncertainty in covariance or information form. More... | |
virtual void | getInformationMatrix (mrpt::math::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... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static CPose3DPDF * | createFrom2D (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, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du) |
This static method computes the pose composition Jacobians. More... | |
static bool | is_3D () |
static bool | is_PDF () |
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... | |
Protected Attributes | |
TModesList | m_modes |
Access directly to this array for modify the modes as desired. More... | |
RTTI stuff | |
typedef CPose3DPDFSOGPtr | Ptr |
typedef CPose3DPDFSOGPtr | ConstPtr |
static mrpt::utils::CLASSINIT | _init_CPose3DPDFSOG |
static mrpt::utils::TRuntimeClassId | classCPose3DPDFSOG |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPose3DPDFSOGPtr | Create () |
typedef TModesList::const_iterator mrpt::poses::CPose3DPDFSOG::const_iterator |
Definition at line 57 of file CPose3DPDFSOG.h.
typedef CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::ConstPtr |
Definition at line 37 of file CPose3DPDFSOG.h.
typedef TModesList::iterator mrpt::poses::CPose3DPDFSOG::iterator |
Definition at line 58 of file CPose3DPDFSOG.h.
typedef CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::Ptr |
A typedef for the associated smart pointer
Definition at line 37 of file CPose3DPDFSOG.h.
|
inherited |
Definition at line 33 of file CProbabilityDensityFunction.h.
typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPose3DPDFSOG::TModesList |
Definition at line 56 of file CPose3DPDFSOG.h.
|
inherited |
The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
|
inherited |
Enumerator | |
---|---|
is_3D_val |
Definition at line 91 of file CPose3DPDF.h.
|
inherited |
Enumerator | |
---|---|
is_PDF_val |
Definition at line 93 of file CPose3DPDF.h.
CPose3DPDFSOG::CPose3DPDFSOG | ( | size_t | nModes = 1 | ) |
Default constructor.
nModes | The initial size of CPose3DPDFSOG::m_modes |
Definition at line 30 of file CPose3DPDFSOG.cpp.
|
staticprotected |
void CPose3DPDFSOG::appendFrom | ( | const CPose3DPDFSOG & | o | ) |
Append the Gaussian modes from "o" to the current set of modes of "this" density.
Definition at line 385 of file CPose3DPDFSOG.cpp.
References ASSERT_, m_modes, MRPT_END, and MRPT_START.
|
protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 305 of file CPose3DPDFSOG.cpp.
References MRPT_END, MRPT_START, and val.
|
virtual |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)
Implements mrpt::poses::CPose3DPDF.
Definition at line 224 of file CPose3DPDFSOG.cpp.
References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.
|
inline |
Definition at line 82 of file CPose3DPDFSOG.h.
Referenced by mrpt::poses::CPose3DPDF::createFrom2D().
|
inline |
Definition at line 84 of file CPose3DPDFSOG.h.
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 >.
Definition at line 215 of file CPose3DPDFSOG.cpp.
void CPose3DPDFSOG::clear | ( | ) |
Clear all the gaussian modes.
Definition at line 38 of file CPose3DPDFSOG.cpp.
Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().
|
inlineinherited |
|
virtual |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DPDF.
Definition at line 172 of file CPose3DPDFSOG.cpp.
References CLASS_ID, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.
|
static |
|
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.
Definition at line 34 of file CPose3DPDF.cpp.
References begin(), CLASS_ID, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.
|
static |
|
virtual |
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 351 of file CPose3DPDFSOG.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
Draws a single sample from the distribution.
Definition at line 342 of file CPose3DPDFSOG.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
|
pure virtualinherited |
Draws a single sample from the distribution.
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
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 140 of file CObject.h.
Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().
|
inline |
Return whether there is any Gaussian mode.
Definition at line 80 of file CPose3DPDFSOG.h.
|
inline |
Definition at line 83 of file CPose3DPDFSOG.h.
|
inline |
Definition at line 85 of file CPose3DPDFSOG.h.
|
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)
Definition at line 102 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
|
inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 111 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
|
inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 68 of file CProbabilityDensityFunction.h.
|
inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 77 of file CProbabilityDensityFunction.h.
|
inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 86 of file CProbabilityDensityFunction.h.
|
pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
void CPose3DPDFSOG::getCovarianceAndMean | ( | mrpt::math::CMatrixDouble66 & | cov, |
CPose3D & | mean_point | ||
) | const |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
Definition at line 78 of file CPose3DPDFSOG.cpp.
|
inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 48 of file CProbabilityDensityFunction.h.
|
inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 144 of file CProbabilityDensityFunction.h.
|
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.
Definition at line 106 of file CProbabilityDensityFunction.h.
|
pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
Definition at line 56 of file CPose3DPDFSOG.cpp.
References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), and val.
|
inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 58 of file CProbabilityDensityFunction.h.
void CPose3DPDFSOG::getMostLikelyMode | ( | CPose3DPDFGaussian & | outVal | ) | const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
Definition at line 404 of file CPose3DPDFSOG.cpp.
References empty().
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DPDF.
|
virtual |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DPDF.
Definition at line 360 of file CPose3DPDFSOG.cpp.
References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, resize(), and val.
|
inlinestaticinherited |
Definition at line 92 of file CPose3DPDF.h.
|
inlinestaticinherited |
Definition at line 94 of file CPose3DPDF.h.
|
inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.
Definition at line 100 of file CProbabilityDensityFunction.h.
|
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:
Definition at line 133 of file CPose3DPDF.cpp.
References mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.
Referenced by mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::math::jacobians::jacobs_6D_pose_comp(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().
void CPose3DPDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
Definition at line 323 of file CPose3DPDFSOG.cpp.
References MRPT_END, and MRPT_START.
Definition at line 37 of file CPose3DPDFSOG.h.
Definition at line 37 of file CPose3DPDFSOG.h.
|
inline |
Definition at line 37 of file CPose3DPDFSOG.h.
Definition at line 37 of file CPose3DPDFSOG.h.
|
inline |
Definition at line 37 of file CPose3DPDFSOG.h.
Definition at line 37 of file CPose3DPDFSOG.h.
|
inline |
Definition at line 37 of file CPose3DPDFSOG.h.
|
inline |
Definition at line 37 of file CPose3DPDFSOG.h.
|
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.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 134 of file CPose3DPDFSOG.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, THROW_EXCEPTION, val, and version.
void CPose3DPDFSOG::resize | ( | const size_t | N | ) |
Set the number of SOG modes.
Definition at line 46 of file CPose3DPDFSOG.cpp.
Referenced by inverse().
|
virtual |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 197 of file CPose3DPDFSOG.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and val.
|
inline |
Return the number of Gaussian modes.
Definition at line 79 of file CPose3DPDFSOG.h.
|
inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
|
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.
out | The output binary stream where object must be dumped. |
getVersion | If 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 114 of file CPose3DPDFSOG.cpp.
|
staticprotected |
Definition at line 37 of file CPose3DPDFSOG.h.
|
staticinherited |
|
staticinherited |
Definition at line 42 of file CPose3DPDF.h.
|
static |
Definition at line 37 of file CPose3DPDFSOG.h.
|
staticinherited |
Definition at line 42 of file CSerializable.h.
|
static |
Definition at line 37 of file CPose3DPDFSOG.h.
|
protected |
Access directly to this array for modify the modes as desired.
Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes
Definition at line 69 of file CPose3DPDFSOG.h.
Referenced by appendFrom().
|
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 31 of file CProbabilityDensityFunction.h.
Page generated by Doxygen 1.8.14 for MRPT 1.5.5 Git: e06b63dbf Fri Dec 1 14:41:11 2017 +0100 at lun oct 28 01:31:35 CET 2019 |