CPosePDFGrid.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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    |
   +---------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers


#include <mrpt/poses/CPosePDFGrid.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPosePDFParticles.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/random.h>
#include <mrpt/system/os.h>
#include <mrpt/poses/SO_SE_average.h>

using namespace std;
using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace mrpt::system;

IMPLEMENTS_SERIALIZABLE( CPosePDFGrid, CPosePDF, mrpt::poses )

/*---------------------------------------------------------------
        Constructor
  ---------------------------------------------------------------*/
CPosePDFGrid::CPosePDFGrid(
        double          xMin,
        double          xMax,
        double          yMin,
        double          yMax,
        double          resolutionXY,
        double          resolutionPhi,
        double          phiMin,
        double          phiMax
        ) : CPose2DGridTemplate<double>(xMin,xMax,yMin,yMax,resolutionXY,resolutionPhi,phiMin,phiMax)
{
        uniformDistribution();
}

void  CPosePDFGrid::copyFrom(const CPosePDF &o)
{
        if (this == &o) return;         // It may be used sometimes

        THROW_EXCEPTION("Not implemented yet!");

}

/*---------------------------------------------------------------
        Destructor
  ---------------------------------------------------------------*/
CPosePDFGrid::~CPosePDFGrid( )
{

}

/*---------------------------------------------------------------
                                                getMean
  Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed
                as a weighted average over all particles.
 ---------------------------------------------------------------*/
void CPosePDFGrid::getMean(CPose2D &p) const
{
        // Calc average on SE(2)
        mrpt::poses::SE_average<2> se_averager;
        for (size_t phiInd = 0; phiInd < m_sizePhi; phiInd++)
                for (size_t y=0;y<m_sizeY;y++)
                        for (size_t x=0;x<m_sizeX;x++)
                        {
                                const double w = *getByIndex(x,y,phiInd);
                                se_averager.append( CPose2D( idx2x(x),idx2y(y), idx2phi(phiInd) ),w );
                        }
        se_averager.get_average(p);
}

/*---------------------------------------------------------------
                                                getCovarianceAndMean
  ---------------------------------------------------------------*/
void CPosePDFGrid::getCovarianceAndMean(CMatrixDouble33 &cov, CPose2D &p) const
{
        CPosePDFParticles       auxParts;
        auxParts.resetDeterministic( CPose2D(0,0,0), m_sizePhi*m_sizeY*m_sizeX );
        size_t idx=0;
        for (size_t phiInd = 0; phiInd < m_sizePhi; phiInd++)
        {
                for (size_t y=0;y<m_sizeY;y++)
                        for (size_t x=0;x<m_sizeX;x++)
                        {
                                auxParts.m_particles[idx].log_w = log( *getByIndex(x,y,phiInd) );
                                *auxParts.m_particles[idx].d = CPose2D( idx2x(x),idx2y(y), idx2phi(phiInd) );
                        }
        }
        auxParts.getCovarianceAndMean(cov,p);
}

/*---------------------------------------------------------------
                                                writeToStream
  ---------------------------------------------------------------*/
void  CPosePDFGrid::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 0;
        else
        {
                // The size:
                out << m_xMin << m_xMax
                        << m_yMin << m_yMax
                        << m_phiMin << m_phiMax
                        << m_resolutionXY << m_resolutionPhi
                        << static_cast<int32_t>(m_sizeX) << static_cast<int32_t>(m_sizeY) << static_cast<int32_t>(m_sizePhi) << static_cast<int32_t>(m_sizeXY)
                        << static_cast<int32_t>(m_idxLeftX) << static_cast<int32_t>(m_idxLeftY) << static_cast<int32_t>(m_idxLeftPhi);

                // The data:
                out << m_data;
        }
}

/*---------------------------------------------------------------
                                                readFromStream
  ---------------------------------------------------------------*/
void  CPosePDFGrid::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        // The size:
                        in  >> m_xMin >> m_xMax
                                >> m_yMin >> m_yMax
                                >> m_phiMin >> m_phiMax
                                >> m_resolutionXY >> m_resolutionPhi;

                        int32_t sizeX,sizeY,sizePhi,sizeXY,idxLeftX,idxLeftY,idxLeftPhi;

                        in >> sizeX >> sizeY >> sizePhi >> sizeXY >> idxLeftX >> idxLeftY >> idxLeftPhi;

                        m_sizeX   = sizeX;
                        m_sizeY   = sizeY;
                        m_sizePhi = sizePhi;
                        m_sizeXY  = sizeXY;
                        m_idxLeftX= idxLeftX;
                        m_idxLeftY= idxLeftY;
                        m_idxLeftPhi=idxLeftPhi;

                        // The data:
                        in >> m_data;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
}

/*---------------------------------------------------------------
                                                saveToTextFile
  ---------------------------------------------------------------*/
void  CPosePDFGrid::saveToTextFile(
        const std::string &dataFile) const
{
        char    dimsFile[1000];
        os::sprintf(dimsFile,1000,"%s_dims.txt",dataFile.c_str());

        FILE            *f_d = os::fopen(dataFile.c_str(),"wt");
        if (!f_d) return;

        FILE            *f_s = os::fopen(dimsFile,"wt");
        if (!f_s)
        {
                os::fclose(f_d);
                return;
        }

        // Save dims:
        os::fprintf(f_s,"%u %u %u %f %f %f %f %f %f\n",
                (unsigned)m_sizeX,
                (unsigned)m_sizeY,
                (unsigned)m_sizePhi,
                m_xMin, m_xMax,
                m_yMin, m_yMax,
                m_phiMin, m_phiMax
                );


        // Save one rectangular matrix each time:
        for (unsigned int phiInd = 0; phiInd < m_sizePhi; phiInd++)
        {
                for (unsigned int y=0;y<m_sizeY;y++)
                {
                        for (unsigned int x=0;x<m_sizeX;x++)
                                os::fprintf(f_d,"%.5e ", *getByIndex(x,y,phiInd) );
                        os::fprintf(f_d,"\n");
                }
        }

        os::fclose(f_s);
        os::fclose(f_d);
        return; // Done!
}

/*---------------------------------------------------------------
                                                changeCoordinatesReference
  ---------------------------------------------------------------*/
void  CPosePDFGrid::changeCoordinatesReference(const CPose3D &newReferenceBase )
{
        MRPT_UNUSED_PARAM(newReferenceBase);
        THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                                        bayesianFusion
 ---------------------------------------------------------------*/
void  CPosePDFGrid::bayesianFusion(const  CPosePDF &p1,const  CPosePDF &p2, const double &minMahalanobisDistToDrop )
{
        MRPT_UNUSED_PARAM(p1);MRPT_UNUSED_PARAM(p2);MRPT_UNUSED_PARAM(minMahalanobisDistToDrop);
        THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                                        inverse
 ---------------------------------------------------------------*/
void  CPosePDFGrid::inverse(CPosePDF &o) const
{
        MRPT_UNUSED_PARAM(o);
        THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                                        drawSingleSample
 ---------------------------------------------------------------*/
void  CPosePDFGrid::drawSingleSample( CPose2D &outPart ) const
{
        MRPT_UNUSED_PARAM(outPart);
        THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                                        drawSingleSample
 ---------------------------------------------------------------*/
void  CPosePDFGrid::drawManySamples(
        size_t                                          N,
        std::vector<CVectorDouble>      &outSamples ) const
{
        MRPT_UNUSED_PARAM(N); MRPT_UNUSED_PARAM(outSamples);

        THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                                        CPosePDFGrid
 ---------------------------------------------------------------*/
void  CPosePDFGrid::normalize()
{
        double                                          SUM = 0;

        // SUM:
        for (vector<double>::const_iterator it=m_data.begin();it!=m_data.end();++it)    SUM += *it;

        if (SUM>0)
        {
                // Normalize:
                for (vector<double>::iterator it=m_data.begin();it!=m_data.end();++it)  *it /= SUM;
        }
}

/*---------------------------------------------------------------
                                                uniformDistribution
  ---------------------------------------------------------------*/
void  CPosePDFGrid::uniformDistribution()
{
        double                                          val =  1.0f / m_data.size();

        for (vector<double>::iterator it=m_data.begin();it!=m_data.end();++it)
                *it = val;
}