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CPose3DQuatPDFGaussian.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CPose3DQuatPDFGaussian_H
10 #define CPose3DQuatPDFGaussian_H
11 
13 #include <mrpt/poses/CPose3DPDF.h>
14 #include <mrpt/poses/CPosePDF.h>
15 #include <mrpt/math/CMatrixD.h>
16 
17 namespace mrpt
18 {
19 namespace poses
20 {
21  class CPosePDFGaussian;
22  class CPose3DPDFGaussian;
23 
24  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose3DQuatPDFGaussian , CPose3DQuatPDF )
25 
26  /** Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion \f$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top \f$.
27  *
28  * This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or
29  * mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
30  *
31  * Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".
32  *
33  * For further details on implemented methods and the theory behind them,
34  * see <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty" >this report</a>.
35  *
36  * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf
37  * \ingroup poses_pdf_grp
38  */
40  {
41  // This must be added to any CSerializable derived class:
43 
44  protected:
45  /** Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
46  */
47  void assureSymmetry();
48 
49  public:
50  /** Default constructor - set all values to zero. */
52 
53  /** Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. */
54  CPose3DQuatPDFGaussian(mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param);
55 
56  /** Constructor from a default mean value, covariance equals to zero. */
57  explicit CPose3DQuatPDFGaussian( const CPose3DQuat &init_Mean );
58 
59  /** Constructor with mean and covariance. */
60  CPose3DQuatPDFGaussian( const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_Cov );
61 
62  /** Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). */
63  explicit CPose3DQuatPDFGaussian( const CPosePDFGaussian &o );
64 
65  /** Constructor from an equivalent Gaussian in Euler angles representation. */
66  explicit CPose3DQuatPDFGaussian( const CPose3DPDFGaussian &o );
67 
68 
69  CPose3DQuat mean; //!< The mean value
70  mrpt::math::CMatrixDouble77 cov; //!< The 7x7 covariance matrix
71 
72  inline const CPose3DQuat & getPoseMean() const { return mean; }
73  inline CPose3DQuat & getPoseMean() { return mean; }
74 
75  void getMean(CPose3DQuat &mean_pose) const MRPT_OVERRIDE; //!< Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). \sa getCovariance
76  void getCovarianceAndMean(mrpt::math::CMatrixDouble77 &cov,CPose3DQuat &mean_point) const MRPT_OVERRIDE; //!< Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. \sa getMean
77  void copyFrom(const CPose3DQuatPDF &o) MRPT_OVERRIDE; //!< Copy operator, translating if necesary (for example, between particles and gaussian representations)
78  void copyFrom(const CPosePDF &o); //!< Copy operator, translating if necesary (for example, between particles and gaussian representations)
79  void copyFrom(const CPose3DPDFGaussian &o); //!< Copy operator, translating if necesary (for example, between particles and gaussian representations)
80  void saveToTextFile(const std::string &file) const MRPT_OVERRIDE; //!< Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines.
81 
82  /** this = p (+) this. This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which
83  * "to project" the current pdf. Result PDF substituted the currently stored one in the object. */
84  void changeCoordinatesReference( const CPose3DQuat &newReferenceBase );
85 
86  /** this = p (+) this. This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which
87  * "to project" the current pdf. Result PDF substituted the currently stored one in the object.
88  */
89  void changeCoordinatesReference( const CPose3D &newReferenceBase ) MRPT_OVERRIDE;
90 
91  void drawSingleSample( CPose3DQuat &outPart ) const MRPT_OVERRIDE;//!< Draws a single sample from the distribution
92  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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.
93  void inverse(CPose3DQuatPDF &o) const MRPT_OVERRIDE; //!< Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF
94 
95  /** Unary - operator, returns the PDF of the inverse pose. */
97  {
99  this->inverse(p);
100  return p;
101  }
102 
103  void operator += ( const CPose3DQuat &Ap); //!< Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
104  void operator += ( const CPose3DQuatPDFGaussian &Ap); //!< Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
105  void operator -= ( const CPose3DQuatPDFGaussian &Ap); //!< Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
106 
107  double evaluatePDF( const CPose3DQuat &x ) const; //!< Evaluates the PDF at a given point.
108 
109  double evaluateNormalizedPDF( const CPose3DQuat &x ) const; //!< Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
110 
111  /** Computes the Mahalanobis distance between the centers of two Gaussians.
112  * The variables with a variance exactly equal to 0 are not taken into account in the process, but
113  * "infinity" is returned if the corresponding elements are not exactly equal. */
114  double mahalanobisDistanceTo( const CPose3DQuatPDFGaussian& theOther);
115 
116  }; // End of class def.
117  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CPose3DQuatPDFGaussian , CPose3DQuatPDF )
118 
119 
120  bool BASE_IMPEXP operator==(const CPose3DQuatPDFGaussian &p1,const CPose3DQuatPDFGaussian &p2);
121  /** Pose composition for two 3D pose Gaussians \sa CPose3DQuatPDFGaussian::operator += */
122  CPose3DQuatPDFGaussian BASE_IMPEXP operator +( const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u );
123  /** Inverse pose composition for two 3D pose Gaussians \sa CPose3DQuatPDFGaussian::operator -= */
124  CPose3DQuatPDFGaussian BASE_IMPEXP operator -( const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u );
125 
126  /** Dumps the mean and covariance matrix to a text stream. */
127  std::ostream BASE_IMPEXP & operator << (std::ostream & out, const CPose3DQuatPDFGaussian& obj);
128 
129  } // End of namespace
130 
131  namespace global_settings
132  {
133  /** If set to true (default), a Scaled Unscented Transform is used instead of a linear approximation with Jacobians.
134  * Affects to:
135  * - CPose3DQuatPDFGaussian::copyFrom(const CPose3DPDFGaussian &o)
136  * - CPose3DQuatPDFGaussianInf::copyFrom(const CPose3DPDFGaussianInf &o)
137  */
139  }
140 
141 } // End of namespace
142 
143 #endif
DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(CPose3DPDFGaussianInf, CPose3DPDF)
BASE_IMPEXP bool USE_SUT_EULER2QUAT_CONVERSION
If set to true (default), a Scaled Unscented Transform is used instead of a linear approximation with...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
TConstructorFlags_Quaternions
Definition: CQuaternion.h:22
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
A numeric matrix of compile-time fixed size.
CMatrixFixedNumeric< double, 7, 7 > CMatrixDouble77
Definition: eigen_frwds.h:51
Declares a class that represents a Probability Density function (PDF) of a 2D pose ...
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample...
Definition: ops_matrices.h:135
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
Definition: ops_vectors.h:70
CPose2D BASE_IMPEXP operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
Definition: CPose2D.cpp:307
GLint GLint GLint GLint GLint x
Definition: glew.h:1166
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
Definition: Miscellaneous.h:74
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
GLhandleARB obj
Definition: glew.h:3276
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
Definition: CPose3DQuat.h:41
GLfloat GLfloat p
Definition: glew.h:10113
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
Definition: CPosePDF.h:39
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
GLsizei const GLcharARB ** string
Definition: glew.h:3293
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.



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