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CPose3DQuatPDFGaussianInf.h
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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 CPose3DQuatPDFGaussianInf_H
10 #define CPose3DQuatPDFGaussianInf_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( CPose3DQuatPDFGaussianInf , 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$.
27  *
28  * This class implements that PDF using a mono-modal Gaussian distribution storing the information matrix instead of its inverse, the covariance matrix.
29  * See mrpt::poses::CPose3DQuatPDF for more details, or
30  * mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
31  *
32  * Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".
33  *
34  * For further details on implemented methods and the theory behind them,
35  * see <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty" >this report</a>.
36  *
37  * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian
38  * \ingroup poses_pdf_grp
39  */
41  {
42  // This must be added to any CSerializable derived class:
45 
46  public:
47  /** Default constructor - set all values to zero. */
49 
50  /** Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. */
52 
53  /** Constructor from a default mean value, information matrix equals to zero. */
54  explicit CPose3DQuatPDFGaussianInf( const CPose3DQuat &init_Mean );
55 
56  /** Constructor with mean and inverse covariance (information matrix). */
57  CPose3DQuatPDFGaussianInf( const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_CovInv );
58 
59 
60  CPose3DQuat mean; //!< The mean value
61  mrpt::math::CMatrixDouble77 cov_inv; //!< The 7x7 information matrix (the inverse of the covariance)
62 
63  inline const CPose3DQuat & getPoseMean() const { return mean; }
64  inline CPose3DQuat & getPoseMean() { return mean; }
65 
66  /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) \sa getCovariance */
67  void getMean(CPose3DQuat &mean_pose) const MRPT_OVERRIDE {
68  mean_pose = mean;
69  }
70  bool isInfType() const MRPT_OVERRIDE { return true; }
71 
72  /** Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. \sa getMean */
74  cov_inv.inv(cov);
75  mean_point = mean;
76  }
77 
78  /** Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) \sa getMean, getCovarianceAndMean */
80 
81  void copyFrom(const CPose3DQuatPDF &o) MRPT_OVERRIDE; //!< Copy operator, translating if necesary (for example, between particles and gaussian representations)
82 
83  /** Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information matrix in the next 7 lines. */
84  void saveToTextFile(const std::string &file) const MRPT_OVERRIDE;
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  void changeCoordinatesReference( const CPose3DQuat &newReferenceBase );
89 
90  /** this = p (+) this. This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which
91  * "to project" the current pdf. Result PDF substituted the currently stored one in the object. */
92  void changeCoordinatesReference( const CPose3D &newReferenceBase ) MRPT_OVERRIDE;
93 
94 
95  void drawSingleSample( CPose3DQuat &outPart ) const MRPT_OVERRIDE; //!< Draws a single sample from the distribution
96  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
97  void inverse(CPose3DQuatPDF &o) const MRPT_OVERRIDE; //!< Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF
98 
99  /** Unary - operator, returns the PDF of the inverse pose. */
101  {
103  this->inverse(p);
104  return p;
105  }
106 
107  void operator += ( const CPose3DQuat &Ap); //!< Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
108  void operator += ( const CPose3DQuatPDFGaussianInf &Ap); //!< Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
109  void operator -= ( const CPose3DQuatPDFGaussianInf &Ap);//!< Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
110 
111  double evaluatePDF( const CPose3DQuat &x ) const; //!< Evaluates the PDF at a given point
112  double evaluateNormalizedPDF( const CPose3DQuat &x ) const; //!< Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]
113 
114  }; // End of class def.
115  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CPose3DQuatPDFGaussianInf , CPose3DQuatPDF )
116 
117  bool BASE_IMPEXP operator==(const CPose3DQuatPDFGaussianInf &p1,const CPose3DQuatPDFGaussianInf &p2);
118  /** Pose composition for two 3D pose Gaussians \sa CPose3DQuatPDFGaussianInf::operator += */
119  CPose3DQuatPDFGaussianInf BASE_IMPEXP operator +( const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u );
120  /** Inverse pose composition for two 3D pose Gaussians \sa CPose3DQuatPDFGaussianInf::operator -= */
121  CPose3DQuatPDFGaussianInf BASE_IMPEXP operator -( const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u );
122 
123  /** Dumps the mean and covariance matrix to a text stream. */
124  std::ostream BASE_IMPEXP & operator << (std::ostream & out, const CPose3DQuatPDFGaussianInf& obj);
125 
126  } // End of namespace
127 
128 
129 
130 } // End of namespace
131 #endif
DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(CPose3DPDFGaussianInf, CPose3DPDF)
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...
#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...
mrpt::math::CMatrixDouble77 cov_inv
The 7x7 information matrix (the inverse of the covariance)
A numeric matrix of compile-time fixed size.
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
void getMean(CPose3DQuat &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) ...
#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
void getInformationMatrix(mrpt::math::CMatrixDouble77 &inf) const MRPT_OVERRIDE
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) ...
bool isInfType() const MRPT_OVERRIDE
Returns whether the class instance holds the uncertainty in covariance or information form...
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.



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