Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

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 CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See also: CPose3DPDF

Definition at line 32 of file CPose3DPDFSOG.h.

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:

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

Public Types
using	TModesList = std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11< TGaussianMode > >

using	const_iterator = TModesList::const_iterator

using	iterator = TModesList::iterator

enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose3D, 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
	CPose3DPDFSOG (size_t nModes=1)
	Default constructor. More...

void	clear ()
	Clear all the gaussian modes. More...

void	resize (const size_t N)
	Set 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...

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

void	getMean (CPose3D &mean_pose) 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 (CPose3DPDFGaussian &outVal) const
	Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...

void	copyFrom (const CPose3DPDF &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	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) 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,z,yaw,pitch,roll) datum. More...

void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

void	appendFrom (const CPose3DPDFSOG &o)
	Append the Gaussian modes from "o" to the current set of modes of "this" density. 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 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 (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 ()

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
TModesList	m_modes
	Access directly to this array for modify the modes as desired. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPose3DPDFSOG >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DPDFSOG >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DPDFSOG >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DPDFSOG >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPose3DPDFSOG"

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

◆ const_iterator

using mrpt::poses::CPose3DPDFSOG::const_iterator = TModesList::const_iterator

Definition at line 51 of file CPose3DPDFSOG.h.

◆ ConstPtr

using mrpt::poses::CPose3DPDFSOG::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DPDFSOG >

Definition at line 34 of file CPose3DPDFSOG.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DPDFSOG::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DPDFSOG >

Definition at line 34 of file CPose3DPDFSOG.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.

◆ iterator

using mrpt::poses::CPose3DPDFSOG::iterator = TModesList::iterator

Definition at line 52 of file CPose3DPDFSOG.h.

◆ Ptr

using mrpt::poses::CPose3DPDFSOG::Ptr = std::shared_ptr< mrpt::poses :: CPose3DPDFSOG >

A type for the associated smart pointer

Definition at line 34 of file CPose3DPDFSOG.h.

◆ self_t

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

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ TModesList

using mrpt::poses::CPose3DPDFSOG::TModesList = std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11<TGaussianMode> >

Definition at line 50 of file CPose3DPDFSOG.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::CPose3DPDFSOG::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DPDFSOG >

Definition at line 34 of file CPose3DPDFSOG.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

◆ CPose3DPDFSOG()

CPose3DPDFSOG::CPose3DPDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters

nModes The initial size of CPose3DPDFSOG::m_modes

Definition at line 29 of file CPose3DPDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( )

staticprotected

◆ appendFrom()

void CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG & o )

Append the Gaussian modes from "o" to the current set of modes of "this" density.

Definition at line 282 of file CPose3DPDFSOG.cpp.

References ASSERT_, m_modes, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().

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◆ bayesianFusion()

void CPose3DPDFSOG::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

Definition at line 190 of file CPose3DPDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

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◆ begin() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::begin ( )

inline

Definition at line 80 of file CPose3DPDFSOG.h.

References m_modes.

◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const

inline

Definition at line 82 of file CPose3DPDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPose3DPDFSOG::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 182 of file CPose3DPDFSOG.cpp.

◆ clear()

void CPose3DPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 33 of file CPose3DPDFSOG.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFSOG::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPose3DPDFSOG::copyFrom ( const CPose3DPDF & o )

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 140 of file CPose3DPDFSOG.cpp.

References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, resize(), and val.

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFSOG::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CPose3DPDFSOG.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DPDFSOG::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 34 of file CPose3DPDFSOG.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::CPose3DPDFSOG::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DPDFSOG::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 34 of file CPose3DPDFSOG.h.

◆ drawManySamples()

void CPose3DPDFSOG::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,z,yaw,pitch,roll) datum.

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

Definition at line 246 of file CPose3DPDFSOG.cpp.

References THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFSOG::drawSingleSample ( CPose3D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 238 of file CPose3DPDFSOG.cpp.

References THROW_EXCEPTION.

◆ 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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◆ empty()

bool mrpt::poses::CPose3DPDFSOG::empty ( ) const

inline

Return whether there is any Gaussian mode.

Definition at line 79 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::end ( )

inline

Definition at line 81 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const

inline

Definition at line 83 of file CPose3DPDFSOG.h.

References m_modes.

◆ enforceCovSymmetry()

void CPose3DPDFSOG::enforceCovSymmetry ( )

protected

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

Definition at line 207 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ 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::CPose3DPDFSOG::getClassName ( )

inlinestatic

Definition at line 34 of file CPose3DPDFSOG.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< mrpt::math::CMatrixDouble66, CPose3D > CPose3DPDFSOG::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< CPose3D, 6 >.

Definition at line 63 of file CPose3DPDFSOG.cpp.

References mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), and mrpt::math::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()

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.

◆ 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 CPose3DPDFSOG::getMean ( CPose3D & mean_pose ) const

override

Definition at line 43 of file CPose3DPDFSOG.cpp.

References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), and mrpt::poses::CPose3D::setFromValues().

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◆ 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.

◆ getMostLikelyMode()

void CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian & 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 299 of file CPose3DPDFSOG.cpp.

References mrpt::containers::empty().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DPDFSOG::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 256 of file CPose3DPDFSOG.cpp.

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

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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()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , 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

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.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(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ normalizeWeights()

void CPose3DPDFSOG::normalizeWeights ( )

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

Definition at line 225 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ resize()

void CPose3DPDFSOG::resize ( const size_t N )

Set the number of SOG modes.

Definition at line 37 of file CPose3DPDFSOG.cpp.

◆ saveToTextFile()

bool CPose3DPDFSOG::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 linear weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
x_mean (gaussian mean value)
yaw_mean (gaussian mean value, in radians)
pitch_mean (gaussian mean value, in radians)
roll_mean (gaussian mean value, in radians)
C11,C22,C33,C44,C55,C66 (Covariance elements)
C12,C13,C14,C15,C16 (Covariance elements)
C23,C24,C25,C25 (Covariance elements)
C34,C35,C36 (Covariance elements)
C45,C46 (Covariance elements)
C56 (Covariance elements)

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

Definition at line 165 of file CPose3DPDFSOG.cpp.

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

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◆ serializeFrom() [1/2]

void CPose3DPDFSOG::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 104 of file CPose3DPDFSOG.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, resize(), and THROW_EXCEPTION.

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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 CPose3DPDFSOG::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 97 of file CPose3DPDFSOG.cpp.

◆ serializeTo() [1/2]

void CPose3DPDFSOG::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 98 of file CPose3DPDFSOG.cpp.

References out.

◆ 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::CPose3DPDFSOG::size ( ) const

inline

Return the number of Gaussian modes.

Definition at line 77 of file CPose3DPDFSOG.h.

References m_modes.

◆ 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::CPose3DPDFSOG::className = "mrpt::poses" "::" "CPose3DPDFSOG"

static

Definition at line 34 of file CPose3DPDFSOG.h.

◆ m_modes

TModesList mrpt::poses::CPose3DPDFSOG::m_modes

protected

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes

Definition at line 64 of file CPose3DPDFSOG.h.

Referenced by appendFrom(), begin(), empty(), end(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFSOG::runtimeClassId

staticprotected

Definition at line 34 of file CPose3DPDFSOG.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.

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

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ iterator

◆ Ptr

◆ self_t

◆ TModesList

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFSOG()

Member Function Documentation

◆ _GetBaseClass()

◆ appendFrom()

◆ bayesianFusion()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesReference()

◆ clear()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ createFrom2D()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ enforceCovSymmetry()

◆ 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()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ normalizeWeights()

◆ resize()

◆ saveToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ size()