MRPT  2.0.0
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mrpt::poses::CPose3DPDFGaussianInf Class Referenceabstract
[mrpt-poses] » 2D/3D point and pose PDFs

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $ as a Gaussian described by its mean and its inverse covariance matrix.

This class implements that PDF using a mono-modal Gaussian distribution in "information" form (inverse covariance matrix).

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the method "CPose3DPDFGaussianInf::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also
CPose3D, CPose3DPDF, CPose3DPDFParticles, CPose3DPDFGaussian

Definition at line 39 of file CPose3DPDFGaussianInf.h.

#include <mrpt/poses/CPose3DPDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussianInf:

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPose3D
 The type of the state the PDF represents. More...
 
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

const CPose3D & getPoseMean () const
 
CPose3D & getPoseMean ()
 
 CPose3DPDFGaussianInf ()
 Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful! More...
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean)
 Constructor with a mean value, inverse covariance=all zeros -> so be careful! More...
 
 CPose3DPDFGaussianInf (TConstructorFlags_Poses constructor_dummy_param)
 Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More...
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_CovInv)
 Constructor with mean and inv cov. More...
 
 CPose3DPDFGaussianInf (const CPose3DQuatPDFGaussian &o)
 Constructor from a 6D pose PDF described as a Quaternion. More...
 
void getMean (CPose3D &mean_pose) const override
 
bool isInfType () const override
 Returns whether the class instance holds the uncertainty in covariance or information form. More...
 
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 getInformationMatrix (mrpt::math::CMatrixDouble66 &inf) const override
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More...
 
void copyFrom (const CPose3DPDF &o) 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...
 
bool saveToTextFile (const std::string &file) const 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) override
 this = p (+) this. More...
 
void drawSingleSample (CPose3D &outPart) const override
 Draws a single sample from the distribution. More...
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const 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) override
 Bayesian fusion of two points gauss. More...
 
void inverse (CPose3DPDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3DPDFGaussianInf 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 CPose3DPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) More...
 
void operator-= (const CPose3DPDFGaussianInf &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...
 
void getInvCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const
 Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,y,yaw) only. More...
 
double mahalanobisDistanceTo (const CPose3DPDFGaussianInf &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. 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...
 
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, CPose3D &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 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 (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 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 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) 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 constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Public Attributes

Data fields
 


CPose3D mean


 The mean value.  More...


 


mrpt::math::CMatrixDouble66 cov_inv


 The inverse of the 6x6 covariance matrix.  More...


 





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 Types


using self_t = CPose3DPDFGaussianInf


 





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...


 





RTTI stuff


using Ptr = std::shared_ptr< mrpt::poses ::CPose3DPDFGaussianInf >


 


using ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DPDFGaussianInf >


 


using UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DPDFGaussianInf >


 


using ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DPDFGaussianInf >


 


static const mrpt::rtti::TRuntimeClassId runtimeClassId


 


static constexpr const char * className = "mrpt::poses" "::" "CPose3DPDFGaussianInf"


 


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



◆ ConstPtr






      

        

          using mrpt::poses::CPose3DPDFGaussianInf::ConstPtr =  std::shared_ptr<const mrpt::poses :: CPose3DPDFGaussianInf >
        

      





Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ ConstUniquePtr






      

        

          using mrpt::poses::CPose3DPDFGaussianInf::ConstUniquePtr =  std::unique_ptr<const mrpt::poses :: CPose3DPDFGaussianInf >
        

      





Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ cov_mat_t








  

  
      

        

          using mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , STATE_LEN >::inf_mat_t =  cov_mat_t
        

      

  		
  
inherited  
  







Information matrix type. 



Definition at line 39 of file CProbabilityDensityFunction.h.








◆ Ptr






      

        

          using mrpt::poses::CPose3DPDFGaussianInf::Ptr =  std::shared_ptr< mrpt::poses :: CPose3DPDFGaussianInf >
        

      




A type for the associated smart pointer 



Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ self_t








  

  
      

        

          using mrpt::poses::CPose3DPDFGaussianInf::self_t =  CPose3DPDFGaussianInf
        

      

  		
  
protected  
  







Definition at line 43 of file CPose3DPDFGaussianInf.h.








◆ type_value








  

  
      

        

          using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value =  CPose3D
        

      

  		
  
inherited  
  







The type of the state the PDF represents. 



Definition at line 34 of file CProbabilityDensityFunction.h.








◆ UniquePtr






      

        

          using mrpt::poses::CPose3DPDFGaussianInf::UniquePtr =  std::unique_ptr< mrpt::poses :: CPose3DPDFGaussianInf >
        

      





Definition at line 42 of file CPose3DPDFGaussianInf.h.







Member Enumeration Documentation



◆ anonymous enum








  

  
      

        

          anonymous enum
        

      

  		
  
inherited  
  








Enumerator
is_3D_val 





Definition at line 101 of file CPose3DPDF.h.








◆ anonymous enum








  

  
      

        

          anonymous enum
        

      

  		
  
inherited  
  








Enumerator
is_PDF_val 





Definition at line 106 of file CPose3DPDF.h.







Constructor & Destructor Documentation



◆ CPose3DPDFGaussianInf() [1/5]






      

        

          CPose3DPDFGaussianInf::CPose3DPDFGaussianInf 
          (
          )
          
        

      





Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful! 



Definition at line 37 of file CPose3DPDFGaussianInf.cpp.








◆ CPose3DPDFGaussianInf() [2/5]








  

  
      

        

          CPose3DPDFGaussianInf::CPose3DPDFGaussianInf 
          (
          const CPose3D & 
          init_Mean)
          
        

      

  		
  
explicit  
  







Constructor with a mean value, inverse covariance=all zeros -> so be careful! 



Definition at line 59 of file CPose3DPDFGaussianInf.cpp.








◆ CPose3DPDFGaussianInf() [3/5]






      

        

          mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf 
          (
          TConstructorFlags_Poses 
          constructor_dummy_param)
          
        

      





Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. 








◆ CPose3DPDFGaussianInf() [4/5]






      

        

          CPose3DPDFGaussianInf::CPose3DPDFGaussianInf 
          (
          const CPose3D & 
          init_Mean, 
        

        

          
          
          const mrpt::math::CMatrixDouble66 & 
          init_CovInv 
        

        

          
          )
          
        

      





Constructor with mean and inv cov. 



Definition at line 50 of file CPose3DPDFGaussianInf.cpp.








◆ CPose3DPDFGaussianInf() [5/5]








  

  
      

        

          CPose3DPDFGaussianInf::CPose3DPDFGaussianInf 
          (
          const CPose3DQuatPDFGaussian & 
          o)
          
        

      

  		
  
explicit  
  







Constructor from a 6D pose PDF described as a Quaternion. 



Definition at line 67 of file CPose3DPDFGaussianInf.cpp.



References copyFrom().



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Member Function Documentation



◆ _GetBaseClass()








  

  
      

        

          static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::_GetBaseClass 
          (
          )
          
        

      

  		
  
staticprotected  
  












◆ bayesianFusion()








  

  
      

        

          void CPose3DPDFGaussianInf::bayesianFusion 
          (
          const CPose3DPDF & 
          p1, 
        

        

          
          
          const CPose3DPDF & 
          p2 
        

        

          
          )
          
        

      

  		
  
overridevirtual  
  







Bayesian fusion of two points gauss. 


distributions, then save the result in this object. The process is as follows:


    

  • (x1,S1): Mean and variance of the p1 distribution.
    • 

  • (x2,S2): Mean and variance of the p2 distribution.
    • 

  • (x,S): Mean and variance of the resulting distribution.
    • 



S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 ); 



Implements mrpt::poses::CPose3DPDF.



Definition at line 238 of file CPose3DPDFGaussianInf.cpp.



References THROW_EXCEPTION.








◆ changeCoordinatesReference()








  

  
      

        

          void CPose3DPDFGaussianInf::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::CPose3DPDF.



Definition at line 176 of file CPose3DPDFGaussianInf.cpp.



References copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), MRPT_END, and MRPT_START.



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◆ clone()








  

  
      

        

          virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFGaussianInf::clone 
          (
          )
           const
        

      

  		
  
overridevirtual  
  







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



Implements mrpt::rtti::CObject.








◆ copyFrom() [1/3]








  

  
      

        

          void CPose3DPDFGaussianInf::copyFrom 
          (
          const CPose3DPDF & 
          o)
          
        

      

  		
  
overridevirtual  
  







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



Implements mrpt::poses::CPose3DPDF.



Definition at line 105 of file CPose3DPDFGaussianInf.cpp.



References ASSERT_, mrpt::math::cov(), cov_inv, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), IS_CLASS, mean, and mrpt::math::UNINITIALIZED_MATRIX.



Referenced by changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), copyFrom(), CPose3DPDFGaussianInf(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().



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◆ copyFrom() [2/3]






      

        

          void CPose3DPDFGaussianInf::copyFrom 
          (
          const CPosePDF & 
          o)
          
        

      





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



Definition at line 125 of file CPose3DPDFGaussianInf.cpp.



References ASSERT_, copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), cov_inv, IS_CLASS, mean, mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), and mrpt::poses::UNINITIALIZED_POSE.



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◆ copyFrom() [3/3]






      

        

          void CPose3DPDFGaussianInf::copyFrom 
          (
          const CPose3DQuatPDFGaussian & 
          o)
          
        

      





Copy from a 6D pose PDF described as a Quaternion. 



Definition at line 76 of file CPose3DPDFGaussianInf.cpp.



References copyFrom().



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◆ Create()








template<typename... Args> 



  

  
      

        

          static Ptr mrpt::poses::CPose3DPDFGaussianInf::Create 
          (
          Args &&... 
          args)
          
        

      

  		
  
inlinestatic  
  







Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ CreateAlloc()








template<typename Alloc , typename... Args> 



  

  
      

        

          static Ptr mrpt::poses::CPose3DPDFGaussianInf::CreateAlloc 
          (
          const Alloc & 
          alloc, 
        

        

          
          
          Args &&... 
          args 
        

        

          
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ createFrom2D()








  

  
      

        

          CPose3DPDF * CPose3DPDF::createFrom2D 
          (
          const CPosePDF & 
          o)
          
        

      

  		
  
staticinherited  
  







This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) 


Warning
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.


See also
copyFrom 



Definition at line 49 of file CPose3DPDF.cpp.



References ASSERT_, CLASS_ID, cov2to3(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.



Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().



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◆ CreateObject()








  

  
      

        

          static std::shared_ptr<CObject> mrpt::poses::CPose3DPDFGaussianInf::CreateObject 
          (
          )
          
        

      

  		
  
static  
  












◆ CreateUnique()








template<typename... Args> 



  

  
      

        

          static UniquePtr mrpt::poses::CPose3DPDFGaussianInf::CreateUnique 
          (
          Args &&... 
          args)
          
        

      

  		
  
inlinestatic  
  







Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ drawManySamples()








  

  
      

        

          void CPose3DPDFGaussianInf::drawManySamples 
          (
          size_t 
          N, 
        

        

          
          
          std::vector< mrpt::math::CVectorDouble > & 
          outSamples 
        

        

          
          )
           const
        

      

  		
  
overridevirtual  
  







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::math::CProbabilityDensityFunction< CPose3D, 6 >.



Definition at line 213 of file CPose3DPDFGaussianInf.cpp.



References mrpt::math::cov(), cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().



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◆ drawSingleSample() [1/2]








  

  
      

        

          void CPose3DPDFGaussianInf::drawSingleSample 
          (
          CPose3D & 
          outPart)
           const
        

      

  		
  
override  
  







Draws a single sample from the distribution. 



Definition at line 192 of file CPose3DPDFGaussianInf.cpp.



References mrpt::math::cov(), cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().



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◆ drawSingleSample() [2/2]








  

  
      

        

          virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample 
          (
          CPose3D  & 
          outPart)
           const
        

      

  		
  
pure virtualinherited  
  







Draws a single sample from the distribution. 








◆ 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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◆ enforceCovSymmetry()








  

  
      

        

          void CPose3DPDFGaussianInf::enforceCovSymmetry 
          (
          )
          
        

      

  		
  
protected  
  







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



Definition at line 335 of file CPose3DPDFGaussianInf.cpp.



References cov_inv, and mrpt::math::CMatrixFixed< T, ROWS, COLS >::rows().



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◆ evaluateNormalizedPDF()






      

        

          double CPose3DPDFGaussianInf::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 326 of file CPose3DPDFGaussianInf.cpp.



References THROW_EXCEPTION.








◆ evaluatePDF()






      

        

          double CPose3DPDFGaussianInf::evaluatePDF 
          (
          const CPose3D & 
          x)
           const
        

      





Evaluates the PDF at a given point. 



Definition at line 317 of file CPose3DPDFGaussianInf.cpp.



References THROW_EXCEPTION.








◆ getAs3DObject() [1/2]








template<class OPENGL_SETOFOBJECTSPTR > 



  

  
      

        

          void mrpt::poses::CPose3DPDF::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() 


See also
mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion 



Definition at line 122 of file CPose3DPDF.h.



References mrpt::opengl::posePDF2opengl().



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◆ getAs3DObject() [2/2]








template<class OPENGL_SETOFOBJECTSPTR > 



  

  
      

        

          OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 133 of file CPose3DPDF.h.



References mrpt::opengl::posePDF2opengl().



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◆ getClassName()








  

  
      

        

          static constexpr auto mrpt::poses::CPose3DPDFGaussianInf::getClassName 
          (
          )
          
        

      

  		
  
inlinestatic  
  







Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ getCovariance() [1/3]








  

  
      

        

          void mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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< CPose3D , STATE_LEN >::getCovarianceAndMean 
          (
          cov_mat_t & 
          c, 
        

        

          
          
          CPose3D  & 
          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<cov_mat_t, type_value> mrpt::poses::CPose3DPDFGaussianInf::getCovarianceAndMean 
          (
          )
           const
        

      

  		
  
inlineoverridevirtual  
  







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< CPose3D, 6 >.



Definition at line 88 of file CPose3DPDFGaussianInf.h.



References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), and mean.



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◆ getCovarianceDynAndMean()








  

  
      

        

          void mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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() [1/2]








  

  
      

        

          void mrpt::poses::CPose3DPDFGaussianInf::getInformationMatrix 
          (
          mrpt::math::CMatrixDouble66 & 
          inf)
           const
        

      

  		
  
inlineoverride  
  







Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) 


See also
getMean, getCovarianceAndMean 



Definition at line 95 of file CPose3DPDFGaussianInf.h.



References cov_inv.








◆ getInformationMatrix() [2/2]








  

  
      

        

          virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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.








◆ getInvCovSubmatrix2D()






      

        

          void CPose3DPDFGaussianInf::getInvCovSubmatrix2D 
          (
          mrpt::math::CMatrixDouble & 
          out_cov)
           const
        

      





Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,y,yaw) only. 



Definition at line 390 of file CPose3DPDFGaussianInf.cpp.



References cov_inv, and mrpt::math::CMatrixDynamic< T >::setSize().



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◆ getMean() [1/2]








  

  
      

        

          virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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 mrpt::poses::CPose3DPDFGaussianInf::getMean 
          (
          CPose3D & 
          mean_pose)
           const
        

      

  		
  
inlineoverride  
  







Definition at line 84 of file CPose3DPDFGaussianInf.h.



References mean.








◆ getMeanVal()








  

  
      

        

          type_value mrpt::math::CProbabilityDensityFunction< CPose3D , 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.








◆ getPoseMean() [1/2]








  

  
      

        

          const CPose3D& mrpt::poses::CPose3DPDFGaussianInf::getPoseMean 
          (
          )
           const
        

      

  		
  
inline  
  







Definition at line 62 of file CPose3DPDFGaussianInf.h.



References mean.








◆ getPoseMean() [2/2]








  

  
      

        

          CPose3D& mrpt::poses::CPose3DPDFGaussianInf::getPoseMean 
          (
          )
          
        

      

  		
  
inline  
  







Definition at line 63 of file CPose3DPDFGaussianInf.h.



References mean.








◆ GetRuntimeClass()








  

  
      

        

          virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::GetRuntimeClass 
          (
          )
           const
        

      

  		
  
overridevirtual  
  







Returns information about the class of an object in runtime. 



Reimplemented from mrpt::poses::CPose3DPDF.








◆ GetRuntimeClassIdStatic()








  

  
      

        

          static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFGaussianInf::GetRuntimeClassIdStatic 
          (
          )
          
        

      

  		
  
static  
  












◆ inverse()








  

  
      

        

          void CPose3DPDFGaussianInf::inverse 
          (
          CPose3DPDF & 
          o)
           const
        

      

  		
  
overridevirtual  
  







Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. 



Implements mrpt::poses::CPose3DPDF.



Definition at line 248 of file CPose3DPDFGaussianInf.cpp.



References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), and out.



Referenced by operator-().



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◆ is_3D()








  

  
      

        

          static constexpr bool mrpt::poses::CPose3DPDF::is_3D 
          (
          )
          
        

      

  		
  
inlinestaticinherited  
  







Definition at line 105 of file CPose3DPDF.h.



References mrpt::poses::CPose3DPDF::is_3D_val.








◆ is_PDF()








  

  
      

        

          static constexpr bool mrpt::poses::CPose3DPDF::is_PDF 
          (
          )
          
        

      

  		
  
inlinestaticinherited  
  







Definition at line 110 of file CPose3DPDF.h.



References mrpt::poses::CPose3DPDF::is_PDF_val.








◆ isInfType()








  

  
      

        

          bool mrpt::poses::CPose3DPDFGaussianInf::isInfType 
          (
          )
           const
        

      

  		
  
inlineoverridevirtual  
  







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 



Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.



Definition at line 86 of file CPose3DPDFGaussianInf.h.








◆ jacobiansPoseComposition()








  

  
      

        

          void CPose3DPDF::jacobiansPoseComposition 
          (
          const CPose3D & 
          x, 
        

        

          
          
          const CPose3D & 
          u, 
        

        

          
          
          mrpt::math::CMatrixDouble66 & 
          df_dx, 
        

        

          
          
          mrpt::math::CMatrixDouble66 & 
          df_du 
        

        

          
          )
          
        

      

  		
  
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: 
X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)
 

Definition at line 129 of file CPose3DPDF.cpp.



References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), 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 mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().



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◆ mahalanobisDistanceTo()






      

        

          double CPose3DPDFGaussianInf::mahalanobisDistanceTo 
          (
          const CPose3DPDFGaussianInf & 
          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 347 of file CPose3DPDFGaussianInf.cpp.



References mrpt::math::cov(), cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, and mrpt::math::multiply_HtCH_scalar().



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◆ operator+=() [1/2]






      

        

          void CPose3DPDFGaussianInf::operator+= 
          (
          const CPose3D & 
          Ap)
          
        

      





Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) 



Definition at line 262 of file CPose3DPDFGaussianInf.cpp.



References cov_inv, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.



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◆ operator+=() [2/2]






      

        

          void CPose3DPDFGaussianInf::operator+= 
          (
          const CPose3DPDFGaussianInf & 
          Ap)
          
        

      





Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) 



Definition at line 285 of file CPose3DPDFGaussianInf.cpp.



References mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::UNINITIALIZED_POSE.



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◆ operator-()








  

  
      

        

          CPose3DPDFGaussianInf mrpt::poses::CPose3DPDFGaussianInf::operator- 
          (
          )
           const
        

      

  		
  
inline  
  







Unary - operator, returns the PDF of the inverse pose. 



Definition at line 147 of file CPose3DPDFGaussianInf.h.



References inverse(), and mrpt::poses::UNINITIALIZED_POSE.



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◆ operator-=()






      

        

          void CPose3DPDFGaussianInf::operator-= 
          (
          const CPose3DPDFGaussianInf & 
          Ap)
          
        

      





Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) 



Definition at line 301 of file CPose3DPDFGaussianInf.cpp.



References mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::UNINITIALIZED_POSE.



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◆ saveToTextFile()








  

  
      

        

          bool CPose3DPDFGaussianInf::saveToTextFile 
          (
          const std::string & 
          file)
           const
        

      

  		
  
overridevirtual  
  







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::math::CProbabilityDensityFunction< CPose3D, 6 >.



Definition at line 155 of file CPose3DPDFGaussianInf.cpp.



References cov_inv, 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, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().



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◆ serializeFrom() [1/2]








  

  
      

        

          void CPose3DPDFGaussianInf::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

  

    
inThe input binary stream where the object data must read from.

    
versionThe 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::exceptionOn any I/O error 

  

  





Implements mrpt::serialization::CSerializable.



Definition at line 89 of file CPose3DPDFGaussianInf.cpp.



References cov_inv, mrpt::math::deserializeSymmetricMatrixFrom(), mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.



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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 CPose3DPDFGaussianInf::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 82 of file CPose3DPDFGaussianInf.cpp.








◆ serializeTo() [1/2]








  

  
      

        

          void CPose3DPDFGaussianInf::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::exceptionOn any I/O error 

  

  





Implements mrpt::serialization::CSerializable.



Definition at line 83 of file CPose3DPDFGaussianInf.cpp.



References cov_inv, mean, 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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◆ 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::CPose3DPDFGaussianInf::className = "mrpt::poses" "::" "CPose3DPDFGaussianInf"
        

      

  		
  
static  
  







Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ cov_inv






      

        

          mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussianInf::cov_inv
        

      





The inverse of the 6x6 covariance matrix. 



Definition at line 58 of file CPose3DPDFGaussianInf.h.



Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), copyFrom(), drawManySamples(), drawSingleSample(), enforceCovSymmetry(), getCovarianceAndMean(), getInformationMatrix(), getInvCovSubmatrix2D(), mahalanobisDistanceTo(), operator+=(), operator-=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().








◆ mean






      

        

          CPose3D mrpt::poses::CPose3DPDFGaussianInf::mean
        

      





The mean value. 



Definition at line 56 of file CPose3DPDFGaussianInf.h.



Referenced by copyFrom(), mrpt::graphs::detail::TPosePDFHelper< CPose2D >::copyFrom3D(), mrpt::graphs::detail::TPosePDFHelper< CPose3D >::copyFrom3D(), drawManySamples(), drawSingleSample(), getCovarianceAndMean(), getMean(), getPoseMean(), mahalanobisDistanceTo(), operator+=(), operator-=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().








◆ runtimeClassId








  

  
      

        

          const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFGaussianInf::runtimeClassId
        

      

  		
  
staticprotected  
  







Definition at line 42 of file CPose3DPDFGaussianInf.h.








◆ state_length








  

  
      

        

          constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose3D , 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.










 
 
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