CPose3DPDF.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CPose3DPDF_H
#define CPose3DPDF_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils/CProbabilityDensityFunction.h>

namespace mrpt
{
namespace poses
{
        class CPosePDF;

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose3DPDF, mrpt::utils::CSerializable )

        /** Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
         *   This class is just the base class for unifying many diferent
         *    ways this PDF can be implemented.
         *
         *  For convenience, a pose composition is also defined for any
         *    PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.
     *
         *  For a similar class for 3D points (without attitude), see CPointPDF
         *
         *
         *  See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.
         *
         * \sa CPose3D, CPosePDF, CPointPDF
         * \ingroup poses_pdf_grp
         */
        class BASE_IMPEXP CPose3DPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPose3D,6>
        {
                DEFINE_VIRTUAL_SERIALIZABLE( CPose3DPDF )

         public:
                /** Copy operator, translating if necesary (for example, between particles and gaussian representations)
                  * \sa createFrom2D
                  */
                virtual void  copyFrom(const CPose3DPDF &o) = 0;

                /** 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 CPose3DPDF. This object must be deleted by the user when not required anymore.
                  *  \sa copyFrom
                  */
                static CPose3DPDF* createFrom2D(const CPosePDF &o);

                /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc) */
                virtual void  bayesianFusion( const CPose3DPDF &p1, const CPose3DPDF &p2 )  = 0 ;

                /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
                virtual void  inverse(CPose3DPDF &o) const = 0;

                /** This static method computes the pose composition Jacobians.
                *
                * See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty
                *
                * Direct equations (for the covariances) in yaw-pitch-roll are too complex.
                *  Make a way around them and consider instead this path:
                * \code
                *      X(6D)       U(6D)
                *        |           |
                *        v           v
                *      X(7D)       U(7D)
                *        |           |
                *        +--- (+) ---+
                *              |
                *              v
                *            RES(7D)
                *              |
                *              v
                *            RES(6D)
                * \endcode
                *
                */
                static void jacobiansPoseComposition(
                        const CPose3D &x,
                        const CPose3D &u,
                        mrpt::math::CMatrixDouble66  &df_dx,
                        mrpt::math::CMatrixDouble66      &df_du);


                enum { is_3D_val = 1 };
                static inline bool is_3D() { return is_3D_val!=0; }
                enum { is_PDF_val = 1 };
                static inline bool is_PDF() { return is_PDF_val!=0; }

                /** 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.
                  * \note By default, ellipsoids for the confidence intervals of  "q=3" are drawn; for more mathematical details, see  CGeneralizedEllipsoidTemplate::setQuantiles()
                  * \sa mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion
                  */
                template <class OPENGL_SETOFOBJECTSPTR>
                inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const {
                        typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
                        out_obj->insertCollection( *SETOFOBJECTS::posePDF2opengl(*this) );
                }

                /** Returns a 3D representation of this PDF.
                  * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
                  */
                template <class OPENGL_SETOFOBJECTSPTR>
                inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const {
                        typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
                        return SETOFOBJECTS::posePDF2opengl(*this);
                }

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CPose3DPDF, mrpt::utils::CSerializable )


        } // End of namespace
} // End of namespace

#endif