Declares a class that represents a Probability Density function (PDF) of a 3D pose .
This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.
Uncertainty of pose composition operations ( ) is implemented in the method "CPose3DPDFGaussian::operator+=".
For further details on implemented methods and the theory behind them, see this report.
Definition at line 37 of file CPose3DPDFGaussian.h.
#include <mrpt/poses/CPose3DPDFGaussian.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
typedef CPose3D | type_value |
The type of the state the PDF represents. More... | |
typedef CProbabilityDensityFunction< CPose3D, 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 () |
CPose3DPDFGaussian () | |
Default constructor. More... | |
CPose3DPDFGaussian (const CPose3D &init_Mean) | |
Constructor. More... | |
CPose3DPDFGaussian (TConstructorFlags_Poses constructor_dummy_param) | |
Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More... | |
CPose3DPDFGaussian (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_Cov) | |
Constructor. More... | |
CPose3DPDFGaussian (const CPosePDFGaussian &o) | |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). More... | |
CPose3DPDFGaussian (const CPose3DQuatPDFGaussian &o) | |
Constructor from a 6D pose PDF described as a Quaternion. More... | |
const CPose3D & | getPoseMean () const |
CPose3D & | getPoseMean () |
void | getMean (CPose3D &mean_pose) const MRPT_OVERRIDE |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble66 &out_cov, CPose3D &mean_point) const MRPT_OVERRIDE |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More... | |
void | asString (std::string &s) const |
std::string | asString () const |
void | copyFrom (const CPose3DPDF &o) MRPT_OVERRIDE |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | copyFrom (const CPosePDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | copyFrom (const CPose3DQuatPDFGaussian &o) |
Copy from a 6D pose PDF described as a Quaternion. More... | |
void | saveToTextFile (const std::string &file) const MRPT_OVERRIDE |
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE |
this = p (+) this. More... | |
void | drawSingleSample (CPose3D &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 1x6 vectors, where each row contains a (x,y,phi) datum. More... | |
void | bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE |
Bayesian fusion of two points gauss. More... | |
void | inverse (CPose3DPDF &o) const MRPT_OVERRIDE |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
CPose3DPDFGaussian | operator- () const |
Unary - operator, returns the PDF of the inverse pose. More... | |
void | operator+= (const CPose3D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
void | operator+= (const CPose3DPDFGaussian &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
void | operator-= (const CPose3DPDFGaussian &Ap) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const CPose3D &x) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const CPose3D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More... | |
double | mahalanobisDistanceTo (const CPose3DPDFGaussian &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. More... | |
void | getCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const |
Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. 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... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
virtual void | getMean (CPose3D &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, CPose3D &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, CPose3D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPose3D | 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 (CPose3D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
RTTI classes and functions | |
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... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static CPose3DPDF * | createFrom2D (const CPosePDF &o) |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF. More... | |
static void | jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du) |
This static method computes the pose composition Jacobians. More... | |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
CPose3D | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble66 | cov |
The 6x6 covariance matrix. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
static const size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More... | |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCPose3DPDF |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | assureSymmetry () |
Assures 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... | |
RTTI stuff | |
typedef CPose3DPDFGaussianPtr | Ptr |
typedef CPose3DPDFGaussianPtr | ConstPtr |
static mrpt::utils::CLASSINIT | _init_CPose3DPDFGaussian |
static mrpt::utils::TRuntimeClassId | classCPose3DPDFGaussian |
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 CPose3DPDFGaussianPtr | Create () |
typedef CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::ConstPtr |
Definition at line 40 of file CPose3DPDFGaussian.h.
typedef CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::Ptr |
A typedef for the associated smart pointer
Definition at line 40 of file CPose3DPDFGaussian.h.
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inherited |
Definition at line 33 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
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Enumerator | |
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is_3D_val |
Definition at line 91 of file CPose3DPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 93 of file CPose3DPDF.h.
CPose3DPDFGaussian::CPose3DPDFGaussian | ( | ) |
Default constructor.
Definition at line 40 of file CPose3DPDFGaussian.cpp.
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explicit |
Constructor.
Definition at line 82 of file CPose3DPDFGaussian.cpp.
CPose3DPDFGaussian::CPose3DPDFGaussian | ( | TConstructorFlags_Poses | constructor_dummy_param | ) |
Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.
Definition at line 47 of file CPose3DPDFGaussian.cpp.
References MRPT_UNUSED_PARAM.
CPose3DPDFGaussian::CPose3DPDFGaussian | ( | const CPose3D & | init_Mean, |
const mrpt::math::CMatrixDouble66 & | init_Cov | ||
) |
Constructor.
Definition at line 55 of file CPose3DPDFGaussian.cpp.
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explicit |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).
Definition at line 63 of file CPose3DPDFGaussian.cpp.
References mrpt::poses::CPosePDFGaussian::cov, and cov.
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explicit |
Constructor from a 6D pose PDF described as a Quaternion.
Definition at line 112 of file CPose3DPDFGaussian.cpp.
References copyFrom().
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staticprotected |
void CPose3DPDFGaussian::asString | ( | std::string & | s | ) | const |
Definition at line 121 of file CPose3DPDFGaussian.cpp.
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inline |
Definition at line 98 of file CPose3DPDFGaussian.h.
References asString().
Referenced by asString().
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protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 590 of file CPose3DPDFGaussian.cpp.
References cov.
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virtual |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPose3DPDF.
Definition at line 407 of file CPose3DPDFGaussian.cpp.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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< CPose3D, 6 >.
Definition at line 332 of file CPose3DPDFGaussian.cpp.
References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by mrpt::topography::path_from_rtk_gps(), and Pose3DPDFGaussTests::testChangeCoordsRef().
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Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DPDF.
Definition at line 281 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), CPose3DPDFGaussian(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::obs::CActionCollection::getFirstMovementEstimation(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), operator+=(), operator-=(), and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::updateState().
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Definition at line 289 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.
void CPose3DPDFGaussian::copyFrom | ( | const CPose3DQuatPDFGaussian & | o | ) |
Copy from a 6D pose PDF described as a Quaternion.
Definition at line 131 of file CPose3DPDFGaussian.cpp.
References aux_posequat2poseypr(), mrpt::poses::CPose3DQuatPDFGaussian::cov, cov, mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mean, MRPT_END, MRPT_START, mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::poses::CPose3D::setFromValues(), mrpt::math::transform_gaussian_unscented(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::global_settings::USE_SUT_QUAT2EULER_CONVERSION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
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static |
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staticinherited |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.
This object must be deleted by the user when not required anymore.
Definition at line 34 of file CPose3DPDF.cpp.
References mrpt::poses::CPose3DPDFSOG::begin(), CLASS_ID, cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.
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virtual |
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.
Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 382 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::random::randomGenerator, mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes().
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pure virtualinherited |
Draws a single sample from the distribution.
Draws a single sample from the distribution.
Definition at line 359 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::random::randomGenerator, mrpt::poses::CPose3D::roll(), mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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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 162 of file CObject.h.
References mrpt::utils::CObjectPtr.
Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().
double CPose3DPDFGaussian::evaluateNormalizedPDF | ( | const CPose3D & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
Definition at line 569 of file CPose3DPDFGaussian.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
double CPose3DPDFGaussian::evaluatePDF | ( | const CPose3D & | x | ) | const |
Evaluates the PDF at a given point.
Definition at line 547 of file CPose3DPDFGaussian.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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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)
Definition at line 102 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 111 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 68 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 77 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 86 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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inline |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
Definition at line 92 of file CPose3DPDFGaussian.h.
References mrpt::math::cov(), and mean().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 48 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 144 of file CProbabilityDensityFunction.h.
void CPose3DPDFGaussian::getCovSubmatrix2D | ( | mrpt::math::CMatrixDouble & | out_cov | ) | const |
Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.
Definition at line 640 of file CPose3DPDFGaussian.cpp.
References cov.
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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.
Definition at line 106 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 85 of file CPose3DPDFGaussian.h.
References mean().
Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfStandardProposal().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 58 of file CProbabilityDensityFunction.h.
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inline |
Definition at line 79 of file CPose3DPDFGaussian.h.
References mean().
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inline |
Definition at line 80 of file CPose3DPDFGaussian.h.
References mean().
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DPDF.
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Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DPDF.
Definition at line 450 of file CPose3DPDFGaussian.cpp.
References ASSERT_, CLASS_ID, and mrpt::poses::CPose3DPDF::GetRuntimeClass().
Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and Pose3DPDFGaussTests::testPoseInverse().
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Definition at line 92 of file CPose3DPDF.h.
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inlinestaticinherited |
Definition at line 94 of file CPose3DPDF.h.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.
Definition at line 100 of file CProbabilityDensityFunction.h.
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staticinherited |
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:
Definition at line 133 of file CPose3DPDF.cpp.
References mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.
Referenced by changeCoordinatesReference(), mrpt::math::jacobians::jacobs_6D_pose_comp(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().
double CPose3DPDFGaussian::mahalanobisDistanceTo | ( | const CPose3DPDFGaussian & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.
Definition at line 602 of file CPose3DPDFGaussian.cpp.
References cov, mean, MRPT_END, and MRPT_START.
Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().
Definition at line 40 of file CPose3DPDFGaussian.h.
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Definition at line 40 of file CPose3DPDFGaussian.h.
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inline |
Definition at line 40 of file CPose3DPDFGaussian.h.
Definition at line 40 of file CPose3DPDFGaussian.h.
Definition at line 40 of file CPose3DPDFGaussian.h.
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Definition at line 40 of file CPose3DPDFGaussian.h.
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Definition at line 40 of file CPose3DPDFGaussian.h.
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Definition at line 40 of file CPose3DPDFGaussian.h.
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 466 of file CPose3DPDFGaussian.cpp.
References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.
void CPose3DPDFGaussian::operator+= | ( | const CPose3DPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 489 of file CPose3DPDFGaussian.cpp.
References copyFrom().
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inline |
Unary - operator, returns the PDF of the inverse pose.
Definition at line 146 of file CPose3DPDFGaussian.h.
References mrpt::pbmap::inverse(), and mrpt::poses::UNINITIALIZED_POSE.
void CPose3DPDFGaussian::operator-= | ( | const CPose3DPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
Definition at line 518 of file CPose3DPDFGaussian.cpp.
References copyFrom().
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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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 242 of file CPose3DPDFGaussian.cpp.
References cov, mean, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.
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virtual |
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 316 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
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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.
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.
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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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 224 of file CPose3DPDFGaussian.cpp.
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staticprotected |
Definition at line 40 of file CPose3DPDFGaussian.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CPose3DPDF.h.
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static |
Definition at line 40 of file CPose3DPDFGaussian.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 40 of file CPose3DPDFGaussian.h.
mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussian::cov |
The 6x6 covariance matrix.
Definition at line 77 of file CPose3DPDFGaussian.h.
Referenced by assureSymmetry(), changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), CPose3DPDFGaussian(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), getCovSubmatrix2D(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), readFromStream(), saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DPDFGaussTests::testToQuatPDFAndBack(), and writeToStream().
CPose3D mrpt::poses::CPose3DPDFGaussian::mean |
The mean value.
Definition at line 73 of file CPose3DPDFGaussian.h.
Referenced by mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), mrpt::poses::CPose3DPDFGaussianInf::operator-=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), readFromStream(), saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DPDFGaussTests::testToQuatPDFAndBack(), and writeToStream().
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staticinherited |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
Definition at line 31 of file CProbabilityDensityFunction.h.
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