Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).

This class implements that PDF using a 3D grid.

See also: CPose2D, CPosePDF, CPose2DGridTemplate

Definition at line 30 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

typedef CPose2D	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPose2D, 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 ()

	CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::utils::DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
	Constructor: Initializes a, uniform distribution over the whole given range. More...

virtual	~CPosePDFGrid ()
	Destructor. More...

void	copyFrom (const CPosePDF &o) MRPT_OVERRIDE
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

void	normalize ()
	Normalizes the PDF, such as all cells sum the unity. More...

void	uniformDistribution ()
	Assigns the same value to all the cells in the grid, so the sum 1. More...

void	getMean (CPose2D &mean_pose) const MRPT_OVERRIDE
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...

void	saveToTextFile (const std::string &dataFile) const MRPT_OVERRIDE
	Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". More...

void	changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
	this = p (+) this. More...

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
	Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication) More...

void	inverse (CPosePDF &o) const MRPT_OVERRIDE
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

void	drawSingleSample (CPose2D &outPart) const MRPT_OVERRIDE
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) 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 1x3 vectors, where each row contains a (x,y,phi) datum. 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 (CPose2D &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, CPose2D &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, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose2D	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 (CPose2D &outPart) const=0
	Draws a single sample from the distribution. More...

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix. More...

size_t	x2idx (double x) const
	Returns "indexes" from coordinates: More...

size_t	y2idx (double y) const
	Returns "indexes" from coordinates: More...

size_t	phi2idx (double phi) const
	Returns "indexes" from coordinates: More...

double	idx2x (size_t x) const
	Returns coordinates from "indexes": More...

double	idx2y (size_t y) const
	Returns coordinates from "indexes": More...

double	idx2phi (size_t phi) const
	Returns coordinates from "indexes": More...

void	setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)
	Changes the limits and size of the grid, erasing previous contents: More...

const double *	getByPos (double x, double y, double phi) const
	Reads the contents of a cell. More...

double *	getByPos (double x, double y, double phi)
	Reads the contents of a cell. More...

const double *	getByIndex (size_t x, size_t y, size_t phi) const
	Reads the contents of a cell. More...

double *	getByIndex (size_t x, size_t y, size_t phi)
	Reads the contents of a cell. More...

void	getAsMatrix (const double &phi, MATRIXLIKE &outMat)
	Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". More...

double	getXMin () const
	Get info about the grid: More...

double	getXMax () const

double	getYMin () const

double	getYMax () const

double	getPhiMin () const

double	getPhiMax () const

double	getResolutionXY () const

double	getResolutionPhi () const

size_t	getSizeX () const

size_t	getSizeY () const

size_t	getSizePhi () const

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
	This static method computes the pose composition Jacobians, with these formulas: More...

static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)

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	classCPosePDF

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

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...

Protected Attributes
double	m_xMin
	The limits and resolution of the grid: More...

double	m_xMax

double	m_yMin

double	m_yMax

double	m_phiMin

double	m_phiMax

double	m_resolutionXY

double	m_resolutionPhi

size_t	m_sizeX
	The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi. More...

size_t	m_sizeY

size_t	m_sizePhi

size_t	m_sizeXY

int	m_idxLeftX
	The indexes of the "left" borders: More...

int	m_idxLeftY

int	m_idxLeftPhi

std::vector< double >	m_data
	The data: More...

RTTI stuff
typedef CPosePDFGridPtr	Ptr

typedef CPosePDFGridPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CPosePDFGrid

static mrpt::utils::TRuntimeClassId	classCPosePDFGrid

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 CPosePDFGridPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CPosePDFGridPtr mrpt::poses::CPosePDFGrid::ConstPtr

Definition at line 33 of file CPosePDFGrid.h.

◆ Ptr

typedef CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Ptr

A typedef for the associated smart pointer

Definition at line 33 of file CPosePDFGrid.h.

◆ self_t

typedef CProbabilityDensityFunction<CPose2D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t

inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value

inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 91 of file CPosePDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 93 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFGrid()

CPosePDFGrid::CPosePDFGrid	(	double	xMin = `-1.0f`,
		double	xMax = `1.0f`,
		double	yMin = `-1.0f`,
		double	yMax = `1.0f`,
		double	resolutionXY = `0.5f`,
		double	resolutionPhi = `mrpt::utils::DEG2RAD(180)`,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)

Constructor: Initializes a, uniform distribution over the whole given range.

Definition at line 33 of file CPosePDFGrid.cpp.

◆ ~CPosePDFGrid()

CPosePDFGrid::~CPosePDFGrid ( )

virtual

Destructor.

Definition at line 58 of file CPosePDFGrid.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGrid::_GetBaseClass ( )

staticprotected

◆ bayesianFusion()

void CPosePDFGrid::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)

virtual

Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

Implements mrpt::poses::CPosePDF.

Definition at line 218 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPosePDFGrid::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< CPose2D, 3 >.

Definition at line 209 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ copyFrom()

void CPosePDFGrid::copyFrom ( const CPosePDF & o )

virtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 47 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ Create()

static CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Create ( )

static

◆ CreateObject()

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

static

◆ drawManySamples()

void CPosePDFGrid::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 245 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPosePDFGrid::drawSingleSample ( CPose2D & outPart ) const

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 236 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGrid::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().

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::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 101 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 110 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAsMatrix()

void mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix	(	const double &	phi,
		MATRIXLIKE &	outMat
	)

inlineinherited

Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

Definition at line 200 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_data, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeY, MRPT_END, MRPT_START, and mrpt::poses::CPose2DGridTemplate< T >::phi2idx().

◆ getByIndex() [1/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)		const

inlineinherited

Reads the contents of a cell.

Definition at line 183 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_data, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY, and mrpt::poses::CPose2DGridTemplate< T >::m_sizeY.

◆ getByIndex() [2/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)

inlineinherited

Reads the contents of a cell.

Definition at line 191 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_data, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY, and mrpt::poses::CPose2DGridTemplate< T >::m_sizeY.

◆ getByPos() [1/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)		const

inlineinherited

Reads the contents of a cell.

Definition at line 169 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::getByIndex(), mrpt::poses::CPose2DGridTemplate< T >::phi2idx(), mrpt::poses::CPose2DGridTemplate< T >::x2idx(), and mrpt::poses::CPose2DGridTemplate< T >::y2idx().

◆ getByPos() [2/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)

inlineinherited

Reads the contents of a cell.

Definition at line 176 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::getByIndex(), mrpt::poses::CPose2DGridTemplate< T >::phi2idx(), mrpt::poses::CPose2DGridTemplate< T >::x2idx(), and mrpt::poses::CPose2DGridTemplate< T >::y2idx().

◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose2D &	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 CPosePDFGrid::getCovarianceAndMean	(	mrpt::math::CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 85 of file CPosePDFGrid.cpp.

References mrpt::math::cov(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::bayes::CParticleFilterData< T >::m_particles, and mrpt::poses::CPosePDFParticles::resetDeterministic().

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPose2D &	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.

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

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D & 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 CPosePDFGrid::getMean ( CPose2D & mean_pose ) const

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

See also: getCovariance

Definition at line 68 of file CPosePDFGrid.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

◆ getMeanVal()

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

◆ getPhiMax()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const

inlineinherited

Definition at line 219 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_phiMax.

◆ getPhiMin()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const

inlineinherited

Definition at line 218 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_phiMin.

◆ getResolutionPhi()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const

inlineinherited

Definition at line 221 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi.

◆ getResolutionXY()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const

inlineinherited

Definition at line 220 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ getSizePhi()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const

inlineinherited

Definition at line 224 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi.

◆ getSizeX()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const

inlineinherited

Definition at line 222 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_sizeX.

◆ getSizeY()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const

inlineinherited

Definition at line 223 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_sizeY.

◆ getXMax()

double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const

inlineinherited

Definition at line 215 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_xMax.

◆ getXMin()

double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const

inlineinherited

Get info about the grid:

Definition at line 214 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_xMin.

◆ getYMax()

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const

inlineinherited

Definition at line 217 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_yMax.

◆ getYMin()

double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const

inlineinherited

Definition at line 216 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_yMin.

◆ idx2phi()

double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t phi ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 92 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_phiMin, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi, and mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi.

◆ idx2x()

double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t x ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 76 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, and mrpt::poses::CPose2DGridTemplate< T >::m_xMin.

◆ idx2y()

double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t y ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 84 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeY, and mrpt::poses::CPose2DGridTemplate< T >::m_yMin.

◆ inverse()

void CPosePDFGrid::inverse ( CPosePDF & o ) const

virtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 227 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ is_3D()

static bool mrpt::poses::CPosePDF::is_3D ( )

inlinestaticinherited

Definition at line 92 of file CPosePDF.h.

◆ is_PDF()

static bool mrpt::poses::CPosePDF::is_PDF ( )

inlinestaticinherited

Definition at line 94 of file CPosePDF.h.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du,
		const bool	compute_df_dx = `true`,
		const bool	compute_df_du = `true`
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

Definition at line 35 of file CPosePDF.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), mrpt::poses::CPosePDFGaussianInf::operator+=(), and mrpt::poses::CPosePDFGaussian::operator+=().

◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du
	)

staticinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 23 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

◆ normalize()

void CPosePDFGrid::normalize ( )

Normalizes the PDF, such as all cells sum the unity.

Definition at line 257 of file CPosePDFGrid.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

◆ operator delete() [1/3]

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

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ operator delete() [2/3]

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

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ operator delete() [3/3]

void mrpt::poses::CPosePDFGrid::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ operator delete[]()

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

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ operator new() [1/3]

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

inlinestatic

Definition at line 33 of file CPosePDFGrid.h.

◆ operator new() [2/3]

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

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ operator new() [3/3]

void* mrpt::poses::CPosePDFGrid::operator new ( size_t size )

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ operator new[]()

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

inline

Definition at line 33 of file CPosePDFGrid.h.

◆ phi2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double phi ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 67 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_phiMin, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, and mrpt::utils::round().

◆ readFromStream()

void CPosePDFGrid::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

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.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 127 of file CPosePDFGrid.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ saveToTextFile()

void CPosePDFGrid::saveToTextFile ( const std::string & dataFile ) const

virtual

Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 163 of file CPosePDFGrid.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and mrpt::system::os::sprintf().

◆ setSize()

void mrpt::poses::CPose2DGridTemplate< double >::setSize	(	double	xMin,
		double	xMax,
		double	yMin,
		double	yMax,
		double	resolutionXY,
		double	resolutionPhi,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)

inlineinherited

Changes the limits and size of the grid, erasing previous contents:

Definition at line 126 of file CPose2DGridTemplate.h.

◆ uniformDistribution()

void CPosePDFGrid::uniformDistribution ( )

Assigns the same value to all the cells in the grid, so the sum 1.

Definition at line 274 of file CPosePDFGrid.cpp.

References val.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

◆ 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 CPosePDFGrid::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

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.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 105 of file CPosePDFGrid.cpp.

References version.

◆ x2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::x2idx ( double x ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 49 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_xMin, and mrpt::utils::round().

◆ y2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::y2idx ( double y ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 58 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeY, mrpt::poses::CPose2DGridTemplate< T >::m_yMin, and mrpt::utils::round().

Member Data Documentation

◆ _init_CPosePDFGrid

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid

staticprotected

Definition at line 33 of file CPosePDFGrid.h.

◆ classCObject

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

staticinherited

Definition at line 128 of file CObject.h.

◆ classCPosePDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF

staticinherited

Definition at line 41 of file CPosePDF.h.

◆ classCPosePDFGrid

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFGrid::classCPosePDFGrid

static

Definition at line 33 of file CPosePDFGrid.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::CPosePDFGrid::classinfo

static

Definition at line 33 of file CPosePDFGrid.h.

◆ m_data

std::vector<double > mrpt::poses::CPose2DGridTemplate< double >::m_data

protectedinherited

The data:

Definition at line 44 of file CPose2DGridTemplate.h.

◆ m_idxLeftPhi

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftPhi

protectedinherited

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_idxLeftX

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftX

protectedinherited

The indexes of the "left" borders:

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_idxLeftY

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftY

protectedinherited

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_phiMax

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMax

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_phiMin

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMin

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_resolutionPhi

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionPhi

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_resolutionXY

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionXY

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_sizePhi

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizePhi

protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_sizeX

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeX

protectedinherited

The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_sizeXY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeXY

protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_sizeY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeY

protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_xMax

double mrpt::poses::CPose2DGridTemplate< double >::m_xMax

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_xMin

double mrpt::poses::CPose2DGridTemplate< double >::m_xMin

protectedinherited

The limits and resolution of the grid:

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_yMax

double mrpt::poses::CPose2DGridTemplate< double >::m_yMax

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_yMin

double mrpt::poses::CPose2DGridTemplate< double >::m_yMin

protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ self_t

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPosePDFGrid()

◆ ~CPosePDFGrid()

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateObject()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getAsMatrix()

◆ getByIndex() [1/2]

◆ getByIndex() [2/2]

◆ getByPos() [1/2]

◆ getByPos() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPhiMax()

◆ getPhiMin()

◆ getResolutionPhi()

◆ getResolutionXY()

◆ GetRuntimeClass()

◆ getSizePhi()

◆ getSizeX()

◆ getSizeY()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ idx2phi()

◆ idx2x()

◆ idx2y()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition() [1/2]

◆ jacobiansPoseComposition() [2/2]

◆ normalize()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()