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mrpt::poses::CPose3DQuatPDFGaussianInf Class Referenceabstract

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 storing the information matrix instead of its inverse, the covariance matrix. 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 "CPose3DQuatPDFGaussianInf::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

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

See Also
CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian

Definition at line 40 of file CPose3DQuatPDFGaussianInf.h.

#include <mrpt/poses/CPose3DQuatPDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussianInf:
Inheritance graph

Public Types

typedef CPose3DQuat type_value
 The type of the state the PDF represents. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CPose3DQuatPDFGaussianInf ()
 Default constructor - set all values to zero. More...
 
 CPose3DQuatPDFGaussianInf (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...
 
 CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean)
 Constructor from a default mean value, information matrix equals to zero. More...
 
 CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_CovInv)
 Constructor with mean and inverse covariance (information matrix). More...
 
const CPose3DQuatgetPoseMean () const
 
CPose3DQuatgetPoseMean ()
 
void getMean (CPose3DQuat &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) More...
 
bool isInfType () const MRPT_OVERRIDE
 Returns whether the class instance holds the uncertainty in covariance or information form. 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 getInformationMatrix (mrpt::math::CMatrixDouble77 &inf) const MRPT_OVERRIDE
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More...
 
void copyFrom (const CPose3DQuatPDF &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 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. 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...
 
CPose3DQuatPDFGaussianInf 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 CPose3DQuatPDFGaussianInf &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 CPose3DQuatPDFGaussianInf &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...
 
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 mxArraywriteToMatlab () 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...
 
CObjectclone () 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 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 voidoperator new (size_t size, void *ptr)
 
static CPose3DQuatPDFcreateFrom2D (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_inv
 The 7x7 information matrix (the inverse of the covariance) 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 Types

typedef CPose3DQuatPDFGaussianInf self_t
 

Protected Member Functions

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
CPose3DQuatPDFGaussianInfPtr 
Ptr
 
typedef
CPose3DQuatPDFGaussianInfPtr 
ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DQuatPDFGaussianInf
 
static mrpt::utils::TRuntimeClassId classCPose3DQuatPDFGaussianInf
 
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DQuatPDFGaussianInfPtr Create ()
 

Member Typedef Documentation

typedef CPose3DQuatPDFGaussianInfPtr mrpt::poses::CPose3DQuatPDFGaussianInf::ConstPtr

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

typedef CPose3DQuatPDFGaussianInfPtr mrpt::poses::CPose3DQuatPDFGaussianInf::Ptr

A typedef for the associated smart pointer

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Constructor & Destructor Documentation

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( )

Default constructor - set all values to zero.

Definition at line 45 of file CPose3DQuatPDFGaussianInf.cpp.

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( 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 51 of file CPose3DQuatPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM.

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( const CPose3DQuat init_Mean)
explicit

Constructor from a default mean value, information matrix equals to zero.

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

Definition at line 58 of file CPose3DQuatPDFGaussianInf.cpp.

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( const CPose3DQuat init_Mean,
const mrpt::math::CMatrixDouble77 init_CovInv 
)

Constructor with mean and inverse covariance (information matrix).

Constructor with mean and covariance.

Definition at line 64 of file CPose3DQuatPDFGaussianInf.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::_GetBaseClass ( )
staticprotected
void CPose3DQuatPDFGaussianInf::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 154 of file CPose3DQuatPDFGaussianInf.cpp.

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

Referenced by changeCoordinatesReference().

void CPose3DQuatPDFGaussianInf::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 144 of file CPose3DQuatPDFGaussianInf.cpp.

References changeCoordinatesReference(), MRPT_END, and MRPT_START.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPose3DQuatPDFGaussianInf::copyFrom ( const CPose3DQuatPDF o)
virtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 115 of file CPose3DQuatPDFGaussianInf.cpp.

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

static CPose3DQuatPDFGaussianInfPtr mrpt::poses::CPose3DQuatPDFGaussianInf::Create ( )
static
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.

static mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussianInf::CreateObject ( )
static
void CPose3DQuatPDFGaussianInf::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 197 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mean, MRPT_END, MRPT_START, mrpt::random::randomGenerator, and mrpt::math::UNINITIALIZED_MATRIX.

void CPose3DQuatPDFGaussianInf::drawSingleSample ( CPose3DQuat outPart) const
virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( CPose3DQuat &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussianInf::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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().

double CPose3DQuatPDFGaussianInf::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 329 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mean, and mrpt::math::normalPDFInf().

double CPose3DQuatPDFGaussianInf::evaluatePDF ( const CPose3DQuat x) const

Evaluates the PDF at a given point.

Definition at line 321 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mean, and mrpt::math::normalPDFInf().

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().

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().

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.

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.

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.

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
void mrpt::poses::CPose3DQuatPDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble77 cov,
CPose3DQuat mean_point 
) const
inline

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

See Also
getMean

Definition at line 73 of file CPose3DQuatPDFGaussianInf.h.

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

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.

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.

void mrpt::poses::CPose3DQuatPDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble77 inf) const
inline

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)

See Also
getMean, getCovarianceAndMean

Definition at line 79 of file CPose3DQuatPDFGaussianInf.h.

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.

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
void mrpt::poses::CPose3DQuatPDFGaussianInf::getMean ( CPose3DQuat mean_pose) const
inline

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

See Also
getCovariance

Definition at line 67 of file CPose3DQuatPDFGaussianInf.h.

References mean().

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.

const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean ( ) const
inline

Definition at line 63 of file CPose3DQuatPDFGaussianInf.h.

References mean().

CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean ( )
inline

Definition at line 64 of file CPose3DQuatPDFGaussianInf.h.

References mean().

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DQuatPDF.

void CPose3DQuatPDFGaussianInf::inverse ( CPose3DQuatPDF o) const
virtual
bool mrpt::poses::CPose3DQuatPDFGaussianInf::isInfType ( ) const
inlinevirtual

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

Definition at line 70 of file CPose3DQuatPDFGaussianInf.h.

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
void mrpt::poses::CPose3DQuatPDFGaussianInf::operator delete ( void ptr)
throw (
)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void mrpt::poses::CPose3DQuatPDFGaussianInf::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void mrpt::poses::CPose3DQuatPDFGaussianInf::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void mrpt::poses::CPose3DQuatPDFGaussianInf::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

static void* mrpt::poses::CPose3DQuatPDFGaussianInf::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void* mrpt::poses::CPose3DQuatPDFGaussianInf::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void* mrpt::poses::CPose3DQuatPDFGaussianInf::operator new ( size_t  size)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void* mrpt::poses::CPose3DQuatPDFGaussianInf::operator new[] ( size_t  size)
inline

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

void CPose3DQuatPDFGaussianInf::operator+= ( const CPose3DQuat Ap)

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

Definition at line 253 of file CPose3DQuatPDFGaussianInf.cpp.

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

void CPose3DQuatPDFGaussianInf::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 ).

Definition at line 280 of file CPose3DQuatPDFGaussianInf.cpp.

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

CPose3DQuatPDFGaussianInf mrpt::poses::CPose3DQuatPDFGaussianInf::operator- ( ) const
inline

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

Definition at line 100 of file CPose3DQuatPDFGaussianInf.h.

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

void CPose3DQuatPDFGaussianInf::operator-= ( const CPose3DQuatPDFGaussianInf Ap)

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

Definition at line 310 of file CPose3DQuatPDFGaussianInf.cpp.

void CPose3DQuatPDFGaussianInf::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 91 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CPose3DQuatPDFGaussianInf::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 information matrix in the next 7 lines.

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

Definition at line 128 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, 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().

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.

void CPose3DQuatPDFGaussianInf::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 72 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, and mean.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussianInf::_init_CPose3DQuatPDFGaussianInf
staticprotected

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 45 of file CPose3DQuatPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussianInf::classCPose3DQuatPDFGaussianInf
static

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::classinfo
static

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussianInf::cov_inv
CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussianInf::mean
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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