Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ .

This class implements that PDF as the following multi-modal Gaussian distribution:

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPosePDFSOG::m_modes

See mrpt::poses::CPosePDF for more details.

See also: CPose2D, CPosePDF, CPosePDFParticles

Definition at line 37 of file CPosePDFSOG.h.

#include <mrpt/poses/CPosePDFSOG.h>

Inheritance diagram for mrpt::poses::CPosePDFSOG:

Classes
struct	TGaussianMode
	The struct for each mode: More...

Public Types
typedef mrpt::aligned_containers< TGaussianMode >::vector_t	CListGaussianModes

typedef CListGaussianModes::const_iterator	const_iterator

typedef CListGaussianModes::iterator	iterator

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 ()

const CListGaussianModes &	getSOGModes () const

	CPosePDFSOG (size_t nModes=1)
	Default constructor. More...

size_t	size () const
	Return the number of Gaussian modes. More...

bool	empty () const
	Return whether there is any Gaussian mode. More...

void	clear ()
	Clear the list of modes. More...

const TGaussianMode &	operator[] (size_t i) const
	Access to individual beacons. More...

TGaussianMode &	operator[] (size_t i)
	Access to individual beacons. More...

const TGaussianMode &	get (size_t i) const
	Access to individual beacons. More...

TGaussianMode &	get (size_t i)
	Access to individual beacons. More...

void	push_back (const TGaussianMode &m)
	Inserts a copy of the given mode into the SOG. More...

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

iterator	erase (iterator i)

void	resize (const size_t N)
	Resize the number of SOG modes. More...

void	mergeModes (double max_KLd=0.5, bool verbose=false)
	Merge very close modes so the overall number of modes is reduced while preserving the total distribution. 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	getMostLikelyCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const
	For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean. More...

void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0. More...

void	copyFrom (const CPosePDF &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 density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More...

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

void	rotateAllCovariances (const double &ang)
	Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ . More...

void	drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum. More...

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

void	operator+= (const mrpt::poses::CPose2D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

double	evaluatePDF (const mrpt::poses::CPose2D &x, bool sumOverAllPhis=false) const
	Evaluates the PDF at a given point. More...

double	evaluateNormalizedPDF (const mrpt::poses::CPose2D &x) const
	Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1]. More...

void	evaluatePDFInArea (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, mrpt::math::CMatrixD &outMatrix, bool sumOverAllPhis=false)
	Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More...

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object) 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...

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
void	assureSymmetry ()
	Ensures 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...

Protected Attributes
CListGaussianModes	m_modes
	The list of SOG modes. More...

RTTI stuff
typedef CPosePDFSOGPtr	Ptr

typedef CPosePDFSOGPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CPosePDFSOG

static mrpt::utils::TRuntimeClassId	classCPosePDFSOG

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 CPosePDFSOGPtr	Create ()

Member Typedef Documentation

◆ CListGaussianModes

typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPosePDFSOG::CListGaussianModes

Definition at line 71 of file CPosePDFSOG.h.

◆ const_iterator

typedef CListGaussianModes::const_iterator mrpt::poses::CPosePDFSOG::const_iterator

Definition at line 72 of file CPosePDFSOG.h.

◆ ConstPtr

typedef CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::ConstPtr

Definition at line 40 of file CPosePDFSOG.h.

◆ iterator

typedef CListGaussianModes::iterator mrpt::poses::CPosePDFSOG::iterator

Definition at line 73 of file CPosePDFSOG.h.

◆ Ptr

typedef CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::Ptr

A typedef for the associated smart pointer

Definition at line 40 of file CPosePDFSOG.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

◆ CPosePDFSOG()

CPosePDFSOG::CPosePDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters

nModes The initial size of CPosePDFSOG::m_modes

Definition at line 36 of file CPosePDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ assureSymmetry()

void CPosePDFSOG::assureSymmetry ( )

protected

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

Definition at line 491 of file CPosePDFSOG.cpp.

References mrpt::math::cov().

◆ bayesianFusion()

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

virtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)

Implements mrpt::poses::CPosePDF.

Definition at line 315 of file CPosePDFSOG.cpp.

References ASSERT_, mrpt::poses::CPosePDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPosePDFGaussian::cov, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::math::cov(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, M_2PI, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mean(), MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ begin() [1/2]

iterator mrpt::poses::CPosePDFSOG::begin ( )

inline

Definition at line 120 of file CPosePDFSOG.h.

◆ begin() [2/2]

const_iterator mrpt::poses::CPosePDFSOG::begin ( ) const

inline

Definition at line 122 of file CPosePDFSOG.h.

◆ changeCoordinatesReference()

void CPosePDFSOG::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 239 of file CPosePDFSOG.cpp.

References mrpt::math::cov(), mrpt::poses::CPose2D::getHomogeneousMatrix(), and mean().

◆ clear()

void CPosePDFSOG::clear ( )

Clear the list of modes.

Definition at line 43 of file CPosePDFSOG.cpp.

Referenced by mrpt::tfest::se2_l2_robust().

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ copyFrom()

void CPosePDFSOG::copyFrom ( const CPosePDF & o )

virtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 196 of file CPosePDFSOG.cpp.

References CLASS_ID, mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean(), mrpt::poses::CPosePDF::GetRuntimeClass(), mean(), MRPT_END, MRPT_START, and resize().

◆ Create()

static CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::Create ( )

static

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ CreateObject()

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

static

◆ drawManySamples()

void CPosePDFSOG::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 298 of file CPosePDFSOG.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

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

pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void CPosePDFSOG::drawSingleSample ( CPose2D & outPart ) const

Draws a single sample from the distribution.

Definition at line 285 of file CPosePDFSOG.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ duplicate()

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

◆ empty()

bool mrpt::poses::CPosePDFSOG::empty ( ) const

inline

Return whether there is any Gaussian mode.

Definition at line 88 of file CPosePDFSOG.h.

◆ end() [1/2]

iterator mrpt::poses::CPosePDFSOG::end ( )

inline

Definition at line 121 of file CPosePDFSOG.h.

◆ end() [2/2]

const_iterator mrpt::poses::CPosePDFSOG::end ( ) const

inline

Definition at line 123 of file CPosePDFSOG.h.

◆ erase()

iterator mrpt::poses::CPosePDFSOG::erase ( iterator i )

inline

Definition at line 125 of file CPosePDFSOG.h.

◆ evaluateNormalizedPDF()

double CPosePDFSOG::evaluateNormalizedPDF ( const mrpt::poses::CPose2D & x ) const

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

Definition at line 473 of file CPosePDFSOG.cpp.

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

◆ evaluatePDF()

double CPosePDFSOG::evaluatePDF	(	const mrpt::poses::CPose2D &	x,
		bool	sumOverAllPhis = `false`
	)		const

Evaluates the PDF at a given point.

Definition at line 426 of file CPosePDFSOG.cpp.

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

◆ evaluatePDFInArea()

void CPosePDFSOG::evaluatePDFInArea	(	const double &	x_min,
		const double &	x_max,
		const double &	y_min,
		const double &	y_max,
		const double &	resolutionXY,
		const double &	phi,
		mrpt::math::CMatrixD &	outMatrix,
		bool	sumOverAllPhis = `false`
	)

Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

Definition at line 525 of file CPosePDFSOG.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ get() [1/2]

const TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i ) const

inline

Access to individual beacons.

Definition at line 105 of file CPosePDFSOG.h.

References ASSERT_.

Referenced by mrpt::tfest::se2_l2_robust().

◆ get() [2/2]

TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i )

inline

Access to individual beacons.

Definition at line 110 of file CPosePDFSOG.h.

References ASSERT_.

◆ 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().

◆ 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 CPosePDFSOG::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 81 of file CPosePDFSOG.cpp.

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

◆ 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 CPosePDFSOG::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 61 of file CPosePDFSOG.cpp.

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

◆ 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().

◆ getMostLikelyCovarianceAndMean()

void CPosePDFSOG::getMostLikelyCovarianceAndMean	(	mrpt::math::CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.

See also: getMean

Definition at line 687 of file CPosePDFSOG.cpp.

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

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ getSOGModes()

const CListGaussianModes& mrpt::poses::CPosePDFSOG::getSOGModes ( ) const

inline

Definition at line 75 of file CPosePDFSOG.h.

◆ inverse()

void CPosePDFSOG::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 391 of file CPosePDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::math::cov(), mrpt::poses::CPosePDF::GetRuntimeClass(), m_modes, and mean().

◆ 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().

◆ mergeModes()

void CPosePDFSOG::mergeModes	(	double	max_KLd = `0.5`,
		bool	verbose = `false`
	)

Merge very close modes so the overall number of modes is reduced while preserving the total distribution.

This method uses the approach described in the paper:

"Kullback-Leibler Approach to Gaussian Mixture Reduction" AR Runnalls. IEEE Transactions on Aerospace and Electronic Systems, 2007.

Parameters

max_KLd The maximum KL-divergence to consider the merge of two nodes (and then stops the process).

Definition at line 563 of file CPosePDFSOG.cpp.

References ASSERT_, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::math::cov(), mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mean(), MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::math::wrapToPiInPlace(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ normalizeWeights()

void CPosePDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

Definition at line 506 of file CPosePDFSOG.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::tfest::se2_l2_robust().

◆ operator delete() [1/3]

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator delete() [2/3]

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator delete() [3/3]

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator delete[]()

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator new() [1/3]

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator new() [2/3]

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 40 of file CPosePDFSOG.h.

◆ operator new[]()

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

inline

Definition at line 40 of file CPosePDFSOG.h.

◆ operator+=()

void CPosePDFSOG::operator+= ( const mrpt::poses::CPose2D & Ap )

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

Definition at line 415 of file CPosePDFSOG.cpp.

References mean(), and mrpt::poses::CPose2D::phi().

◆ operator[]() [1/2]

const TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i ) const

inline

Access to individual beacons.

Definition at line 94 of file CPosePDFSOG.h.

References ASSERT_.

◆ operator[]() [2/2]

TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i )

inline

Access to individual beacons.

Definition at line 99 of file CPosePDFSOG.h.

References ASSERT_.

◆ push_back()

void mrpt::poses::CPosePDFSOG::push_back ( const TGaussianMode & m )

inline

Inserts a copy of the given mode into the SOG.

Definition at line 116 of file CPosePDFSOG.h.

Referenced by mrpt::tfest::se2_l2_robust().

◆ readFromStream()

void CPosePDFSOG::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 141 of file CPosePDFSOG.cpp.

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

◆ resize()

void CPosePDFSOG::resize ( const size_t N )

Resize the number of SOG modes.

Definition at line 51 of file CPosePDFSOG.cpp.

Referenced by copyFrom().

◆ rotateAllCovariances()

void CPosePDFSOG::rotateAllCovariances ( const double & ang )

Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .

Definition at line 270 of file CPosePDFSOG.cpp.

References mrpt::math::cov().

◆ saveToTextFile()

void CPosePDFSOG::saveToTextFile ( const std::string & file ) const

virtual

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

w (The weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
phi_mean (gaussian mean value)
C11 (Covariance elements)
C22 (Covariance elements)
C33 (Covariance elements)
C12 (Covariance elements)
C13 (Covariance elements)
C23 (Covariance elements)

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

Definition at line 221 of file CPosePDFSOG.cpp.

References mrpt::math::cov(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and mean().

◆ size()

size_t mrpt::poses::CPosePDFSOG::size ( ) const

inline

Return the number of Gaussian modes.

Definition at line 87 of file CPosePDFSOG.h.

Referenced by mrpt::tfest::se2_l2_robust().

◆ 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 CPosePDFSOG::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 119 of file CPosePDFSOG.cpp.

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

Member Data Documentation

◆ _init_CPosePDFSOG

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFSOG::_init_CPosePDFSOG

staticprotected

Definition at line 40 of file CPosePDFSOG.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.

◆ classCPosePDFSOG

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFSOG::classCPosePDFSOG

static

Definition at line 40 of file CPosePDFSOG.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::CPosePDFSOG::classinfo

static

Definition at line 40 of file CPosePDFSOG.h.

◆ m_modes

CListGaussianModes mrpt::poses::CPosePDFSOG::m_modes

protected

The list of SOG modes.

Definition at line 80 of file CPosePDFSOG.h.

Referenced by inverse().

◆ 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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ CListGaussianModes

◆ const_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

◆ self_t

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPosePDFSOG()

Member Function Documentation

◆ _GetBaseClass()

◆ assureSymmetry()

◆ bayesianFusion()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesReference()

◆ clear()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateObject()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ evaluateNormalizedPDF()

◆ evaluatePDF()

◆ evaluatePDFInArea()

◆ get() [1/2]

◆ get() [2/2]

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [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()

◆ getMostLikelyCovarianceAndMean()

◆ GetRuntimeClass()

◆ getSOGModes()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition() [1/2]

◆ jacobiansPoseComposition() [2/2]

◆ mergeModes()

◆ normalizeWeights()

◆ 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[]()