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mrpt::poses::CPose3DQuatPDFGaussian Class Referenceabstract
[mrpt-base] » 2D/3D point and pose PDFs

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $.

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

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

See also
CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf

Definition at line 39 of file CPose3DQuatPDFGaussian.h.

#include <mrpt/poses/CPose3DQuatPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussian:
Inheritance graph

Public Types

typedef CPose3DQuat type_value
 The type of the state the PDF represents. More...
 
typedef CProbabilityDensityFunction< CPose3DQuat, 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 ()
 
 CPose3DQuatPDFGaussian ()
 Default constructor - set all values to zero. More...
 
 CPose3DQuatPDFGaussian (mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param)
 Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. More...
 
 CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean)
 Constructor from a default mean value, covariance equals to zero. More...
 
 CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_Cov)
 Constructor with mean and covariance. More...
 
 CPose3DQuatPDFGaussian (const CPosePDFGaussian &o)
 Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). More...
 
 CPose3DQuatPDFGaussian (const CPose3DPDFGaussian &o)
 Constructor from an equivalent Gaussian in Euler angles representation. More...
 
const CPose3DQuat & getPoseMean () const
 
CPose3DQuat & getPoseMean ()
 
void getMean (CPose3DQuat &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
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. More...
 
void copyFrom (const CPose3DQuatPDF &o) MRPT_OVERRIDE
 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 CPose3DPDFGaussian &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
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. More...
 
void changeCoordinatesReference (const CPose3DQuat &newReferenceBase)
 this = p (+) this. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void drawSingleSample (CPose3DQuat &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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. More...
 
void inverse (CPose3DQuatPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3DQuatPDFGaussian operator- () const
 Unary - operator, returns the PDF of the inverse pose. More...
 
void operator+= (const CPose3DQuat &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
 
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 ). More...
 
void operator-= (const CPose3DQuatPDFGaussian &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More...
 
double evaluatePDF (const CPose3DQuat &x) const
 Evaluates the PDF at a given point. More...
 
double evaluateNormalizedPDF (const CPose3DQuat &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
 
double mahalanobisDistanceTo (const CPose3DQuatPDFGaussian &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. 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 (CPose3DQuat &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, CPose3DQuat &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, CPose3DQuat &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPose3DQuat 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 (CPose3DQuat &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 CPose3DQuatPDF * 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 CPose3DQuatPDF. More...
 
static void jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL)
 This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. More...
 

Public Attributes

CPose3DQuat mean
 The mean value. More...
 
mrpt::math::CMatrixDouble77 cov
 The 7x7 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 classCPose3DQuatPDF
 
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 CPose3DQuatPDFGaussianPtr Ptr
 
typedef CPose3DQuatPDFGaussianPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DQuatPDFGaussian
 
static mrpt::utils::TRuntimeClassId classCPose3DQuatPDFGaussian
 
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 CPose3DQuatPDFGaussianPtr Create ()
 

Member Typedef Documentation

◆ ConstPtr

typedef CPose3DQuatPDFGaussianPtr mrpt::poses::CPose3DQuatPDFGaussian::ConstPtr

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ Ptr

typedef CPose3DQuatPDFGaussianPtr mrpt::poses::CPose3DQuatPDFGaussian::Ptr

A typedef for the associated smart pointer

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ self_t

typedef CProbabilityDensityFunction<CPose3DQuat , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::self_t
inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::type_value
inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Constructor & Destructor Documentation

◆ CPose3DQuatPDFGaussian() [1/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( )

Default constructor - set all values to zero.

Definition at line 36 of file CPose3DQuatPDFGaussian.cpp.

◆ CPose3DQuatPDFGaussian() [2/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( mrpt::math::TConstructorFlags_Quaternions  constructor_dummy_param)

Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.

Definition at line 42 of file CPose3DQuatPDFGaussian.cpp.

References MRPT_UNUSED_PARAM.

◆ CPose3DQuatPDFGaussian() [3/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat &  init_Mean)
explicit

Constructor from a default mean value, covariance equals to zero.

Definition at line 49 of file CPose3DQuatPDFGaussian.cpp.

◆ CPose3DQuatPDFGaussian() [4/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat &  init_Mean,
const mrpt::math::CMatrixDouble77 &  init_Cov 
)

Constructor with mean and covariance.

Definition at line 55 of file CPose3DQuatPDFGaussian.cpp.

◆ CPose3DQuatPDFGaussian() [5/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPosePDFGaussian &  o)
explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).

Definition at line 61 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom().

◆ CPose3DQuatPDFGaussian() [6/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DPDFGaussian &  o)
explicit

Constructor from an equivalent Gaussian in Euler angles representation.

Definition at line 68 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::_GetBaseClass ( )
staticprotected

◆ assureSymmetry()

void CPose3DQuatPDFGaussian::assureSymmetry ( )
protected

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

Definition at line 421 of file CPose3DQuatPDFGaussian.cpp.

References cov.

◆ changeCoordinatesReference() [1/2]

void CPose3DQuatPDFGaussian::changeCoordinatesReference ( const CPose3DQuat &  newReferenceBase)

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.

Definition at line 263 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by changeCoordinatesReference(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and Pose3DQuatPDFGaussTests::testChangeCoordsRef().

◆ changeCoordinatesReference() [2/2]

void CPose3DQuatPDFGaussian::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< CPose3DQuat, 7 >.

Definition at line 253 of file CPose3DQuatPDFGaussian.cpp.

References changeCoordinatesReference(), MRPT_END, and MRPT_START.

◆ clone()

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ copyFrom() [1/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPose3DQuatPDF &  o)
virtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 138 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

Referenced by copyFrom(), and CPose3DQuatPDFGaussian().

◆ copyFrom() [2/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPosePDF &  o)

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

Definition at line 146 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom(), and mrpt::poses::CPose3DPDFGaussian::copyFrom().

◆ copyFrom() [3/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPose3DPDFGaussian &  o)

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

Definition at line 170 of file CPose3DQuatPDFGaussian.cpp.

References aux_poseypr2posequat(), cov, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3D::getAsQuaternion(), mean, mrpt::poses::CPose3DPDFGaussian::mean, mrpt::poses::CPose3DQuat::quat(), mrpt::math::transform_gaussian_unscented(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::global_settings::USE_SUT_EULER2QUAT_CONVERSION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ Create()

static CPose3DQuatPDFGaussianPtr mrpt::poses::CPose3DQuatPDFGaussian::Create ( )
static

◆ createFrom2D()

CPose3DQuatPDF * CPose3DQuatPDF::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 CPose3DQuatPDF.

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

See also
copyFrom

Definition at line 26 of file CPose3DQuatPDF.cpp.

References MRPT_END, and MRPT_START.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussian::CreateObject ( )
static

◆ drawManySamples()

void CPose3DQuatPDFGaussian::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
virtual

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.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 299 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mean, MRPT_END, MRPT_START, and mrpt::random::randomGenerator.

◆ drawSingleSample() [1/2]

void CPose3DQuatPDFGaussian::drawSingleSample ( CPose3DQuat &  outPart) const

Draws a single sample from the distribution.

Definition at line 289 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mean, MRPT_END, MRPT_START, and mrpt::random::randomGenerator.

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( CPose3DQuat &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussian::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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ evaluateNormalizedPDF()

double CPose3DQuatPDFGaussian::evaluateNormalizedPDF ( const CPose3DQuat &  x) const

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

Definition at line 413 of file CPose3DQuatPDFGaussian.cpp.

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

◆ evaluatePDF()

double CPose3DQuatPDFGaussian::evaluatePDF ( const CPose3DQuat &  x) const

Evaluates the PDF at a given point.

Definition at line 405 of file CPose3DQuatPDFGaussian.cpp.

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

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DQuatPDF::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.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 80 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::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 89 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( mrpt::math::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 68 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( mrpt::math::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 77 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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 86 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3DQuat &  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 CPose3DQuatPDFGaussian::getCovarianceAndMean ( mrpt::math::CMatrixDouble77 &  cov,
CPose3DQuat &  mean_point 
) const

Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.

See also
getMean

Definition at line 86 of file CPose3DQuatPDFGaussian.cpp.

References cov, and mean.

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble &  cov,
CPose3DQuat &  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 48 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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 144 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getInformationMatrix ( mrpt::math::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 106 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMean ( CPose3DQuat &  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 CPose3DQuatPDFGaussian::getMean ( CPose3DQuat &  mean_pose) const

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

See also
getCovariance

Definition at line 78 of file CPose3DQuatPDFGaussian.cpp.

References mean.

◆ getMeanVal()

CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMeanVal ( ) const
inlineinherited

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

See also
getCovariance, getInformationMatrix

Definition at line 58 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( ) const
inline

Definition at line 72 of file CPose3DQuatPDFGaussian.h.

References mean().

◆ getPoseMean() [2/2]

CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( )
inline

Definition at line 73 of file CPose3DQuatPDFGaussian.h.

References mean().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DQuatPDF.

◆ inverse()

void CPose3DQuatPDFGaussian::inverse ( CPose3DQuatPDF &  o) const
virtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 317 of file CPose3DQuatPDFGaussian.cpp.

References ASSERT_, CLASS_ID, mrpt::math::CQuaternion< T >::conj(), cov, mrpt::poses::CPose3DQuatPDF::GetRuntimeClass(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mean, mrpt::poses::CPose3DQuat::quat(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See also
mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPose3DQuatPDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DQuatPDF::jacobiansPoseComposition ( const CPose3DQuat &  x,
const CPose3DQuat &  u,
mrpt::math::CMatrixDouble77 &  df_dx,
mrpt::math::CMatrixDouble77 &  df_du,
CPose3DQuat *  out_x_oplus_u = NULL 
)
staticinherited

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.

Parameters
out_x_oplus_uIf set to !=NULL, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here:

Definition at line 42 of file CPose3DQuatPDF.cpp.

References MRPT_ALIGN16, mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_6D_pose_comp(), operator+=(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().

◆ mahalanobisDistanceTo()

double CPose3DQuatPDFGaussian::mahalanobisDistanceTo ( const CPose3DQuatPDFGaussian &  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.

Definition at line 433 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::math::mahalanobisDistance(), mean, MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator delete[]()

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new() [2/3]

static void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new[]()

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new[] ( size_t  size)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator+=() [1/2]

void CPose3DQuatPDFGaussian::operator+= ( const CPose3DQuat &  Ap)

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

Definition at line 349 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

◆ operator+=() [2/2]

void CPose3DQuatPDFGaussian::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 ).

Definition at line 372 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

◆ operator-()

CPose3DQuatPDFGaussian mrpt::poses::CPose3DQuatPDFGaussian::operator- ( ) const
inline

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

Definition at line 96 of file CPose3DQuatPDFGaussian.h.

References mrpt::pbmap::inverse(), and mrpt::math::UNINITIALIZED_QUATERNION.

◆ operator-=()

void CPose3DQuatPDFGaussian::operator-= ( const CPose3DQuatPDFGaussian &  Ap)

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

Definition at line 394 of file CPose3DQuatPDFGaussian.cpp.

◆ readFromStream()

void CPose3DQuatPDFGaussian::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.

Definition at line 114 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ saveToTextFile()

void CPose3DQuatPDFGaussian::saveToTextFile ( const std::string &  file) const
virtual

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.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 237 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3DQuat::quat(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
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.

Returns
A new 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.

◆ writeToStream()

void CPose3DQuatPDFGaussian::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.

Definition at line 95 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and version.

Member Data Documentation

◆ _init_CPose3DQuatPDFGaussian

mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian
staticprotected

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ classCObject

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

Definition at line 128 of file CObject.h.

◆ classCPose3DQuatPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDF::classCPose3DQuatPDF
staticinherited

Definition at line 45 of file CPose3DQuatPDF.h.

◆ classCPose3DQuatPDFGaussian

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussian::classCPose3DQuatPDFGaussian
static

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ classCSerializable

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

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::classinfo
static

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussian::cov

The 7x7 covariance matrix.

Definition at line 70 of file CPose3DQuatPDFGaussian.h.

Referenced by assureSymmetry(), changeCoordinatesReference(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), inverse(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), operator+=(), mrpt::poses::operator==(), readFromStream(), saveToTextFile(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseInverseComposition(), and writeToStream().

◆ mean

CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussian::mean

The mean value.

Definition at line 69 of file CPose3DQuatPDFGaussian.h.

Referenced by changeCoordinatesReference(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), getMean(), inverse(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), readFromStream(), saveToTextFile(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseInverseComposition(), and writeToStream().

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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 31 of file CProbabilityDensityFunction.h.



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