CPose3DQuatPDFGaussianInf.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/math/CMatrixFixed.h>  // for CMatrixF...
#include <mrpt/math/CQuaternion.h>  // for CQuatern...
#include <mrpt/math/distributions.h>
#include <mrpt/poses/CPose3D.h>  // for CPose3D
#include <mrpt/poses/CPose3DQuat.h>  // for CPose3DQuat
#include <mrpt/poses/CPose3DQuatPDF.h>  // for CPose3DQ...
#include <mrpt/poses/CPose3DQuatPDFGaussianInf.h>
#include <mrpt/random/RandomGenerators.h>  // for CRandomG...
#include <mrpt/serialization/CSerializable.h>  // for CSeriali...
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/system/os.h>  // for fopen
#include <Eigen/Dense>
#include <algorithm>  // for move, max
#include <cstdio>  // for size_t
#include <exception>  // for exception
#include <new>  // for operator...
#include <ostream>  // for operator<<
#include <string>  // for allocator
#include <vector>  // for vector

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

IMPLEMENTS_SERIALIZABLE(CPose3DQuatPDFGaussianInf, CPose3DQuatPDF, mrpt::poses)

/** Default constructor - set all values to zero. */
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf() : mean(), cov_inv() {}
// Un-initialized constructor:
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf(
    TConstructorFlags_Quaternions constructor_dummy_param)
    : mean(UNINITIALIZED_QUATERNION), cov_inv(UNINITIALIZED_MATRIX)
{
    MRPT_UNUSED_PARAM(constructor_dummy_param);
}

/** Constructor from a default mean value, covariance equals to zero. */
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf(
    const CPose3DQuat& init_Mean)
    : mean(init_Mean), cov_inv()
{
}

/** Constructor with mean and covariance. */
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf(
    const CPose3DQuat& init_Mean, const CMatrixDouble77& init_CovInv)
    : mean(init_Mean), cov_inv(init_CovInv)
{
}

uint8_t CPose3DQuatPDFGaussianInf::serializeGetVersion() const { return 0; }
void CPose3DQuatPDFGaussianInf::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << mean;

    for (int r = 0; r < cov_inv.rows(); r++) out << cov_inv(r, r);
    for (int r = 0; r < cov_inv.rows(); r++)
        for (int c = r + 1; c < cov_inv.cols(); c++) out << cov_inv(r, c);
}
void CPose3DQuatPDFGaussianInf::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> mean;

            for (int r = 0; r < cov_inv.rows(); r++) in >> cov_inv(r, r);
            for (int r = 0; r < cov_inv.rows(); r++)
                for (int c = r + 1; c < cov_inv.cols(); c++)
                {
                    double x;
                    in >> x;
                    cov_inv(r, c) = cov_inv(c, r) = x;
                }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CPose3DQuatPDFGaussianInf::copyFrom(const CPose3DQuatPDF& o)
{
    if (this == &o) return;  // It may be used sometimes

    // Convert to gaussian pdf:
    CMatrixDouble77 C(UNINITIALIZED_MATRIX);
    o.getCovarianceAndMean(C, this->mean);
    this->cov_inv = C.inverse_LLt();
}

/*---------------------------------------------------------------
                    saveToTextFile
  ---------------------------------------------------------------*/
bool CPose3DQuatPDFGaussianInf::saveToTextFile(const string& file) const
{
    FILE* f = os::fopen(file.c_str(), "wt");
    if (!f) return false;

    os::fprintf(
        f, "%e %e %e %e %e %e %e\n", mean.x(), mean.y(), mean.z(),
        mean.quat()[0], mean.quat()[1], mean.quat()[2], mean.quat()[3]);

    for (unsigned int i = 0; i < 7; i++)
        os::fprintf(
            f, "%e %e %e %e %e %e %e\n", cov_inv(i, 0), cov_inv(i, 1),
            cov_inv(i, 2), cov_inv(i, 3), cov_inv(i, 4), cov_inv(i, 5),
            cov_inv(i, 6));

    os::fclose(f);
    return true;
}

/*---------------------------------------------------------------
                        changeCoordinatesReference
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::changeCoordinatesReference(
    const CPose3D& newReferenceBase)
{
    MRPT_START
    changeCoordinatesReference(CPose3DQuat(newReferenceBase));
    MRPT_END
}

/*---------------------------------------------------------------
                        changeCoordinatesReference
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::changeCoordinatesReference(
    const CPose3DQuat& newReferenceBaseQuat)
{
    MRPT_START

    // COV:
    const CMatrixDouble77 OLD_COV = this->cov_inv.inverse_LLt();

    CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

    CPose3DQuatPDF::jacobiansPoseComposition(
        newReferenceBaseQuat,  // x
        this->mean,  // u
        df_dx, df_du,
        &this->mean  // Output:  newReferenceBaseQuat + this->mean;
    );

    // this->cov = H1*this->cov*H1' + H2*Ap.cov*H2';
    // df_dx: not used, since its COV are all zeros...

    this->cov_inv = mrpt::math::multiply_HCHt(df_du, OLD_COV).inverse_LLt();

    MRPT_END
}

/*---------------------------------------------------------------
                    drawSingleSample
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::drawSingleSample(CPose3DQuat& outPart) const
{
    MRPT_START
    const CMatrixDouble77 COV = this->cov_inv.inverse_LLt();

    getRandomGenerator().drawGaussianMultivariate(outPart, COV, &mean);
    MRPT_END
}

/*---------------------------------------------------------------
                    drawManySamples
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::drawManySamples(
    size_t N, vector<CVectorDouble>& outSamples) const
{
    MRPT_START
    const CMatrixDouble77 COV = this->cov_inv.inverse_LLt();

    getRandomGenerator().drawGaussianMultivariateMany(outSamples, N, COV);

    for (auto& outSample : outSamples)
        for (unsigned int k = 0; k < 7; k++) outSample[k] += mean[k];

    MRPT_END
}

/*---------------------------------------------------------------
                    inverse
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::inverse(CPose3DQuatPDF& o) const
{
    ASSERT_(o.GetRuntimeClass() == CLASS_ID(CPose3DQuatPDFGaussianInf));
    auto& out = dynamic_cast<CPose3DQuatPDFGaussianInf&>(o);

    // COV:
    CMatrixFixed<double, 3, 7> df_dpose(UNINITIALIZED_MATRIX);
    double lx, ly, lz;
    mean.inverseComposePoint(0, 0, 0, lx, ly, lz, nullptr, &df_dpose);

    CMatrixFixed<double, 7, 7> jacob;
    jacob.insertMatrix(0, 0, df_dpose);
    jacob(3, 3) = 1;
    jacob(4, 4) = -1;
    jacob(5, 5) = -1;
    jacob(6, 6) = -1;

    // C(0:2,0:2): H C H^t
    const CMatrixDouble77 COV = this->cov_inv.inverse_LLt();
    out.cov_inv = mrpt::math::multiply_HCHt(jacob, COV).inverse_LLt();

    // Mean:
    out.mean.x(lx);
    out.mean.y(ly);
    out.mean.z(lz);
    this->mean.quat().conj(out.mean.quat());
}

/*---------------------------------------------------------------
                            +=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::operator+=(const CPose3DQuat& Ap)
{
    // COV:
    const CMatrixDouble77 OLD_COV = this->cov_inv.inverse_LLt();

    CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

    CPose3DQuatPDF::jacobiansPoseComposition(
        this->mean,  // x
        Ap,  // u
        df_dx, df_du,
        &this->mean  // Output: this->mean + Ap;
    );

    // this->cov = H1*this->cov*H1' + H2*Ap.cov*H2';
    this->cov_inv = mrpt::math::multiply_HCHt(df_dx, OLD_COV).inverse_LLt();
    // df_du: Nothing to do, since COV(Ap) = zeros
}

/*---------------------------------------------------------------
                            +=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::operator+=(const CPose3DQuatPDFGaussianInf& Ap)
{
    // COV:
    const CMatrixDouble77 OLD_COV = this->cov_inv.inverse_LLt();

    CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

    CPose3DQuatPDF::jacobiansPoseComposition(
        this->mean,  // x
        Ap.mean,  // u
        df_dx, df_du,
        &this->mean  // Output:  this->mean + Ap.mean;
    );

    // this->cov = H1*this->cov*H1' + H2*Ap.cov*H2';
    const CMatrixDouble77 Ap_cov = Ap.cov_inv.inverse_LLt();
    CMatrixDouble77 NEW_COV = mrpt::math::multiply_HCHt(df_dx, OLD_COV) +
                              mrpt::math::multiply_HCHt(df_du, Ap_cov);

    this->cov_inv = NEW_COV.inverse_LLt();
}

/*---------------------------------------------------------------
                            -=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::operator-=(const CPose3DQuatPDFGaussianInf& Ap)
{
    // THIS = THIS (-) Ap             -->
    // THIS = inverse(Ap) (+) THIS
    CPose3DQuatPDFGaussianInf inv_Ap = -Ap;
    *this = inv_Ap + *this;
}

/*---------------------------------------------------------------
                        evaluatePDF
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussianInf::evaluatePDF(const CPose3DQuat& x) const
{
    return mrpt::math::normalPDFInf(
        CMatrixDouble71(x), CMatrixDouble71(this->mean), this->cov_inv);
}

/*---------------------------------------------------------------
                        evaluateNormalizedPDF
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussianInf::evaluateNormalizedPDF(
    const CPose3DQuat& x) const
{
    return mrpt::math::normalPDFInf(
        CMatrixDouble71(x), CMatrixDouble71(this->mean), this->cov_inv, true);
}

/*---------------------------------------------------------------
                        operator <<
 ---------------------------------------------------------------*/
ostream& mrpt::poses::operator<<(
    ostream& out, const CPose3DQuatPDFGaussianInf& obj)
{
    out << "Mean: " << obj.mean << "\n";
    out << "Information:\n" << obj.cov_inv << "\n";
    return out;
}

bool mrpt::poses::operator==(
    const CPose3DQuatPDFGaussianInf& p1, const CPose3DQuatPDFGaussianInf& p2)
{
    return p1.mean == p2.mean && p1.cov_inv == p2.cov_inv;
}

/** Pose composition for two 3D pose Gaussians  \sa
 * CPose3DQuatPDFGaussianInf::operator += */
CPose3DQuatPDFGaussianInf mrpt::poses::operator+(
    const CPose3DQuatPDFGaussianInf& x, const CPose3DQuatPDFGaussianInf& u)
{
    CPose3DQuatPDFGaussianInf res(x);
    res += u;
    return res;
}

/** Inverse pose composition for two 3D pose Gaussians  \sa
 * CPose3DQuatPDFGaussianInf::operator -= */
CPose3DQuatPDFGaussianInf mrpt::poses::operator-(
    const CPose3DQuatPDFGaussianInf& x, const CPose3DQuatPDFGaussianInf& u)
{
    CPose3DQuatPDFGaussianInf res(x);
    res -= u;
    return res;
}