Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D point $p(\mathbf{x}) = [x ~ y ~ z ]^t$ .

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 CPointPDFSOG::m_modes

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

See also: CPointPDF, CPosePDF,

Definition at line 33 of file CPointPDFSOG.h.

#include <mrpt/poses/CPointPDFSOG.h>

Inheritance diagram for mrpt::poses::CPointPDFSOG:

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

Public Types
using	CListGaussianModes = std::deque< TGaussianMode >

using	const_iterator = std::deque< TGaussianMode >::const_iterator

using	iterator = std::deque< TGaussianMode >::iterator

enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPoint3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPoint3D, STATE_LEN >

using	cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
	Covariance matrix type. More...

using	inf_mat_t = cov_mat_t
	Information matrix type. More...

Public Member Functions
	CPointPDFSOG (size_t nModes=1)
	Default constructor. More...

void	clear ()
	Clear all the gaussian 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...

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

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

void	getMean (CPoint3D &mean_point) const override

std::tuple< cov_mat_t, type_value >	getCovarianceAndMean () const override
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

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

void	getMostLikelyMode (CPointPDFGaussian &outVal) const
	Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...

double	ESS () const
	Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]). More...

void	copyFrom (const CPointPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

bool	saveToTextFile (const std::string &file) const 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) override
	this = p (+) this. More...

void	drawSingleSample (CPoint3D &outSample) const override
	Draw a sample from the pdf. More...

void	bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override
	Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More...

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

double	evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const
	Evaluates the PDF at a given point. 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 , class OPENGL_SETOFOBJECTS >
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...

virtual void	getMean (type_value &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual void	getCovarianceAndMean (cov_mat_t &c, CPoint3D &mean) const final

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

type_value	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 (cov_mat_t &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

cov_mat_t	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 (inf_mat_t &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 (CPoint3D &outPart) const=0
	Draws a single sample from the distribution. More...

virtual void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Static Public Attributes
static constexpr 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...

Protected Member Functions
void	enforceCovSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

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

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPointPDFSOG >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPointPDFSOG >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPointPDFSOG >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPointPDFSOG >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPointPDFSOG"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ CListGaussianModes

using mrpt::poses::CPointPDFSOG::CListGaussianModes = std::deque<TGaussianMode>

Definition at line 50 of file CPointPDFSOG.h.

◆ const_iterator

using mrpt::poses::CPointPDFSOG::const_iterator = std::deque<TGaussianMode>::const_iterator

Definition at line 51 of file CPointPDFSOG.h.

◆ ConstPtr

using mrpt::poses::CPointPDFSOG::ConstPtr = std::shared_ptr<const mrpt::poses :: CPointPDFSOG >

Definition at line 35 of file CPointPDFSOG.h.

◆ ConstUniquePtr

using mrpt::poses::CPointPDFSOG::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPointPDFSOG >

Definition at line 35 of file CPointPDFSOG.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>

inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ inf_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ iterator

using mrpt::poses::CPointPDFSOG::iterator = std::deque<TGaussianMode>::iterator

Definition at line 52 of file CPointPDFSOG.h.

◆ Ptr

using mrpt::poses::CPointPDFSOG::Ptr = std::shared_ptr< mrpt::poses :: CPointPDFSOG >

A type for the associated smart pointer

Definition at line 35 of file CPointPDFSOG.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint3D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::type_value = CPoint3D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPointPDFSOG::UniquePtr = std::unique_ptr< mrpt::poses :: CPointPDFSOG >

Definition at line 35 of file CPointPDFSOG.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 64 of file CPointPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 69 of file CPointPDF.h.

Constructor & Destructor Documentation

◆ CPointPDFSOG()

CPointPDFSOG::CPointPDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters

nModes The initial size of CPointPDFSOG::m_modes

Definition at line 35 of file CPointPDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDFSOG::_GetBaseClass ( )

staticprotected

◆ bayesianFusion()

void CPointPDFSOG::bayesianFusion	(	const CPointPDF &	p1,
		const CPointPDF &	p2,
		const double	minMahalanobisDistToDrop = `0`
	)

overridevirtual

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters

p1	The first distribution to fuse
p2	The second distribution to fuse
minMahalanobisDistToDrop	If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implements mrpt::poses::CPointPDF.

Definition at line 249 of file CPointPDFSOG.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, mrpt::poses::CPointPDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPointPDFGaussian::cov, mrpt::math::MatrixBase< Scalar, Derived >::det(), mrpt::poses::CPointPDF::GetRuntimeClass(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::square(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ begin() [1/2]

iterator mrpt::poses::CPointPDFSOG::begin ( )

inline

Definition at line 100 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ begin() [2/2]

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

inline

Definition at line 102 of file CPointPDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPointPDFSOG::changeCoordinatesReference ( const CPose3D & newReferenceBase )

overridevirtual

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::poses::CPointPDF.

Definition at line 200 of file CPointPDFSOG.cpp.

◆ clear()

void CPointPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 39 of file CPointPDFSOG.cpp.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPointPDFSOG::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPointPDFSOG::copyFrom ( const CPointPDF & o )

overridevirtual

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

Implements mrpt::poses::CPointPDF.

Definition at line 158 of file CPointPDFSOG.cpp.

References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPointPDF::GetRuntimeClass(), MRPT_END, MRPT_START, resize(), and val.

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPointPDFSOG::Create ( Args &&... args )

inlinestatic

Definition at line 35 of file CPointPDFSOG.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPointPDFSOG::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 35 of file CPointPDFSOG.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPointPDFSOG::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPointPDFSOG::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 35 of file CPointPDFSOG.h.

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 151 of file CProbabilityDensityFunction.h.

◆ drawSingleSample() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void CPointPDFSOG::drawSingleSample ( CPoint3D & outSample ) const

override

Draw a sample from the pdf.

Definition at line 208 of file CPointPDFSOG.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::math::CVectorDynamic< T >::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

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

inline

Return whether there is any Gaussian mode.

Definition at line 110 of file CPointPDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPointPDFSOG::end ( )

inline

Definition at line 101 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ end() [2/2]

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

inline

Definition at line 103 of file CPointPDFSOG.h.

References m_modes.

◆ enforceCovSymmetry()

void CPointPDFSOG::enforceCovSymmetry ( )

protected

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

Definition at line 387 of file CPointPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ erase()

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

inline

Definition at line 104 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ ESS()

double CPointPDFSOG::ESS ( ) const

Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).

Definition at line 424 of file CPointPDFSOG.cpp.

References MRPT_END, MRPT_START, and mrpt::square().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ evaluatePDF()

double CPointPDFSOG::evaluatePDF	(	const CPoint3D &	x,
		bool	sumOverAllZs
	)		const

Evaluates the PDF at a given point.

Definition at line 479 of file CPointPDFSOG.cpp.

References mrpt::math::normalPDF(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ evaluatePDFInArea()

void CPointPDFSOG::evaluatePDFInArea	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolutionXY,
		float	z,
		mrpt::math::CMatrixD &	outMatrix,
		bool	sumOverAllZs = `false`
	)

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

Definition at line 449 of file CPointPDFSOG.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::CMatrixDynamic< T >::setSize().

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◆ get() [1/2]

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

inline

Access to individual beacons.

Definition at line 86 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ get() [2/2]

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

inline

Access to individual beacons.

Definition at line 92 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPointPDF::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::CSetOfObjects::Ptr 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 83 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject ( ) const

inlineinherited

Returns a 3D representation of this PDF.

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.

Definition at line 94 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPointPDFSOG::getClassName ( )

inlinestatic

Definition at line 35 of file CPointPDFSOG.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( cov_mat_t & 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 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPoint3D &	mean
	)		const

inlinefinalvirtualinherited

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 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [2/2]

std::tuple< CMatrixDouble33, CPoint3D > CPointPDFSOG::getCovarianceAndMean ( ) const

overridevirtual

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 80 of file CPointPDFSOG.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		type_value &	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 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( inf_mat_t & 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 130 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( type_value & 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 CPointPDFSOG::getMean ( CPoint3D & mean_point ) const

override

Definition at line 49 of file CPointPDFSOG.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovariance, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

◆ getMostLikelyMode()

void CPointPDFSOG::getMostLikelyMode ( CPointPDFGaussian & outVal ) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

Definition at line 525 of file CPointPDFSOG.cpp.

References mrpt::containers::empty().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDFSOG::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPointPDFSOG::GetRuntimeClassIdStatic ( )

static

◆ is_3D()

static constexpr bool mrpt::poses::CPointPDF::is_3D ( )

inlinestaticinherited

Definition at line 68 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPointPDF::is_PDF ( )

inlinestaticinherited

Definition at line 73 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPoint3D , 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

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ normalizeWeights()

void CPointPDFSOG::normalizeWeights ( )

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

Definition at line 405 of file CPointPDFSOG.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().

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◆ operator[]() [1/2]

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

inline

Access to individual beacons.

Definition at line 73 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

◆ operator[]() [2/2]

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

inline

Access to individual beacons.

Definition at line 79 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

◆ push_back()

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

inline

Inserts a copy of the given mode into the SOG.

Definition at line 99 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ resize()

void CPointPDFSOG::resize ( const size_t N )

Resize the number of SOG modes.

Definition at line 43 of file CPointPDFSOG.cpp.

Referenced by mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ saveToTextFile()

bool CPointPDFSOG::saveToTextFile ( const std::string & file ) const

overridevirtual

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)
x_mean (gaussian mean value)
C11 (Covariance elements)
C22 (Covariance elements)
C33 (Covariance elements)
C12 (Covariance elements)
C13 (Covariance elements)
C23 (Covariance elements)

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 182 of file CPointPDFSOG.cpp.

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

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◆ serializeFrom() [1/2]

void CPointPDFSOG::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 130 of file CPointPDFSOG.cpp.

References mrpt::math::deserializeSymmetricMatrixFrom(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and resize().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPointPDFSOG::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 118 of file CPointPDFSOG.cpp.

◆ serializeTo() [1/2]

void CPointPDFSOG::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 119 of file CPointPDFSOG.cpp.

References out, and mrpt::math::serializeSymmetricMatrixTo().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ size()

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

inline

Return the number of Gaussian modes.

Definition at line 108 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPointPDFSOG::className = "mrpt::poses" "::" "CPointPDFSOG"

static

Definition at line 35 of file CPointPDFSOG.h.

◆ m_modes

CListGaussianModes mrpt::poses::CPointPDFSOG::m_modes

protected

The list of SOG modes.

Definition at line 61 of file CPointPDFSOG.h.

Referenced by begin(), empty(), end(), erase(), get(), operator[](), push_back(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPointPDFSOG::runtimeClassId

staticprotected

Definition at line 35 of file CPointPDFSOG.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 32 of file CProbabilityDensityFunction.h.

Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().

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

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ iterator

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPointPDFSOG()

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesReference()

◆ clear()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ enforceCovSymmetry()

◆ erase()

◆ ESS()

◆ evaluatePDF()

◆ evaluatePDFInArea()

◆ get() [1/2]

◆ get() [2/2]

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getClassName()

◆ 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()

◆ getMostLikelyMode()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ normalizeWeights()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ push_back()

◆ resize()

◆ saveToTextFile()

◆ serializeFrom() [1/2]