MRPT
2.0.0
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Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion .
This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
Uncertainty of pose composition operations ( ) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".
For further details on implemented methods and the theory behind them, see this report.
Definition at line 43 of file CPose3DQuatPDFGaussian.h.
#include <mrpt/poses/CPose3DQuatPDFGaussian.h>
Public Types | |
using | type_value = CPose3DQuat |
The type of the state the PDF represents. More... | |
using | self_t = CProbabilityDensityFunction< CPose3DQuat, 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 | |
CPose3DQuatPDFGaussian () | |
Default constructor - set all values to zero. More... | |
CPose3DQuatPDFGaussian (mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param) | |
Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. More... | |
CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean) | |
Constructor from a default mean value, covariance equals to zero. More... | |
CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_Cov) | |
Constructor with mean and covariance. More... | |
CPose3DQuatPDFGaussian (const CPosePDFGaussian &o) | |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). More... | |
CPose3DQuatPDFGaussian (const CPose3DPDFGaussian &o) | |
Constructor from an equivalent Gaussian in Euler angles representation. More... | |
const CPose3DQuat & | getPoseMean () const |
CPose3DQuat & | getPoseMean () |
void | getMean (CPose3DQuat &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 | copyFrom (const CPose3DQuatPDF &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 CPose3DPDFGaussian &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
bool | saveToTextFile (const std::string &file) const override |
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. More... | |
void | changeCoordinatesReference (const CPose3DQuat &newReferenceBase) |
this = p (+) this. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | drawSingleSample (CPose3DQuat &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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. More... | |
void | inverse (CPose3DQuatPDF &o) const override |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
CPose3DQuatPDFGaussian | operator- () const |
Unary - operator, returns the PDF of the inverse pose. More... | |
void | operator+= (const CPose3DQuat &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
void | operator+= (const CPose3DQuatPDFGaussian &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More... | |
void | operator-= (const CPose3DQuatPDFGaussian &Ap) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const CPose3DQuat &x) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const CPose3DQuat &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More... | |
double | mahalanobisDistanceTo (const CPose3DQuatPDFGaussian &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, CPose3DQuat &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 (CPose3DQuat &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 CPose3DQuatPDF * | createFrom2D (const CPosePDF &o) |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF. More... | |
static void | jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=nullptr) |
This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. More... | |
Public Attributes | |
CPose3DQuat | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble77 | cov |
The 7x7 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 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 ::CPose3DQuatPDFGaussian > |
using | ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DQuatPDFGaussian > |
using | UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DQuatPDFGaussian > |
using | ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DQuatPDFGaussian > |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "mrpt::poses" "::" "CPose3DQuatPDFGaussian" |
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... | |
using mrpt::poses::CPose3DQuatPDFGaussian::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DQuatPDFGaussian > |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
using mrpt::poses::CPose3DQuatPDFGaussian::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DQuatPDFGaussian > |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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inherited |
Covariance matrix type.
Definition at line 37 of file CProbabilityDensityFunction.h.
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inherited |
Information matrix type.
Definition at line 39 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPose3DQuatPDFGaussian::Ptr = std::shared_ptr< mrpt::poses :: CPose3DQuatPDFGaussian > |
A type for the associated smart pointer
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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inherited |
Definition at line 35 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 34 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPose3DQuatPDFGaussian::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DQuatPDFGaussian > |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | ) |
Default constructor - set all values to zero.
Definition at line 45 of file CPose3DQuatPDFGaussian.cpp.
mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | mrpt::math::TConstructorFlags_Quaternions | constructor_dummy_param | ) |
Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.
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explicit |
Constructor from a default mean value, covariance equals to zero.
Definition at line 54 of file CPose3DQuatPDFGaussian.cpp.
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | const CPose3DQuat & | init_Mean, |
const mrpt::math::CMatrixDouble77 & | init_Cov | ||
) |
Constructor with mean and covariance.
Definition at line 60 of file CPose3DQuatPDFGaussian.cpp.
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explicit |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).
Definition at line 68 of file CPose3DQuatPDFGaussian.cpp.
References copyFrom().
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explicit |
Constructor from an equivalent Gaussian in Euler angles representation.
Definition at line 75 of file CPose3DQuatPDFGaussian.cpp.
References copyFrom().
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staticprotected |
void CPose3DQuatPDFGaussian::changeCoordinatesReference | ( | const CPose3DQuat & | newReferenceBase | ) |
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.
Definition at line 205 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by changeCoordinatesReference(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and Pose3DQuatPDFGaussTests::testChangeCoordsRef().
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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::CPose3DQuatPDF.
Definition at line 194 of file CPose3DQuatPDFGaussian.cpp.
References changeCoordinatesReference(), MRPT_END, and MRPT_START.
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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overridevirtual |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DQuatPDF.
Definition at line 106 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.
Referenced by copyFrom(), and CPose3DQuatPDFGaussian().
void CPose3DQuatPDFGaussian::copyFrom | ( | const CPosePDF & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Definition at line 114 of file CPose3DQuatPDFGaussian.cpp.
References copyFrom(), and mrpt::poses::CPose3DPDFGaussian::copyFrom().
void CPose3DQuatPDFGaussian::copyFrom | ( | const CPose3DPDFGaussian & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Definition at line 138 of file CPose3DQuatPDFGaussian.cpp.
References aux_poseypr2posequat(), cov, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DPDFGaussian::mean, mean, mrpt::math::multiply_HCHt(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::transform_gaussian_unscented(), mrpt::math::UNINITIALIZED_MATRIX, USE_SUT_EULER2QUAT_CONVERSION_value, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inlinestatic |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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inlinestatic |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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staticinherited |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF.
This object must be deleted by the user when not required anymore.
Definition at line 27 of file CPose3DQuatPDF.cpp.
References mrpt::poses::CPose3DPDFGaussian::copyFrom(), MRPT_END, and MRPT_START.
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static |
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inlinestatic |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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overridevirtual |
Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.
Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.
Definition at line 241 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, and MRPT_START.
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override |
Draws a single sample from the distribution.
Definition at line 231 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END, and MRPT_START.
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pure virtualinherited |
Draws a single sample from the distribution.
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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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protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 358 of file CPose3DQuatPDFGaussian.cpp.
References cov, and mrpt::math::CMatrixFixed< T, ROWS, COLS >::rows().
double CPose3DQuatPDFGaussian::evaluateNormalizedPDF | ( | const CPose3DQuat & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
Definition at line 349 of file CPose3DQuatPDFGaussian.cpp.
References cov, mean, and mrpt::math::normalPDF().
double CPose3DQuatPDFGaussian::evaluatePDF | ( | const CPose3DQuat & | x | ) | const |
Evaluates the PDF at a given point.
Definition at line 340 of file CPose3DQuatPDFGaussian.cpp.
References cov, mean, and mrpt::math::normalPDF().
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inlineinherited |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)
Definition at line 95 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 106 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlinestatic |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 88 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 98 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 108 of file CProbabilityDensityFunction.h.
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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.
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inlineoverridevirtual |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Implements mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.
Definition at line 88 of file CPose3DQuatPDFGaussian.h.
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 65 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 167 of file CProbabilityDensityFunction.h.
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inlinevirtualinherited |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
Definition at line 130 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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override |
Definition at line 81 of file CPose3DQuatPDFGaussian.cpp.
References mean.
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 77 of file CProbabilityDensityFunction.h.
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inline |
Definition at line 83 of file CPose3DQuatPDFGaussian.h.
References mean.
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inline |
Definition at line 84 of file CPose3DQuatPDFGaussian.h.
References mean.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DQuatPDF.
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static |
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overridevirtual |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DQuatPDF.
Definition at line 257 of file CPose3DQuatPDFGaussian.cpp.
References ASSERT_, CLASS_ID, mrpt::math::CQuaternion< T >::conj(), cov, mrpt::poses::CPose3DQuatPDF::GetRuntimeClass(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mean, mrpt::math::multiply_HCHt(), out, mrpt::poses::CPose3DQuat::quat(), and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by operator-().
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPose3DQuatPDFGaussianInf.
Definition at line 123 of file CProbabilityDensityFunction.h.
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staticinherited |
This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.
out_x_oplus_u | If set to !=nullptr, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here: |
Definition at line 42 of file CPose3DQuatPDF.cpp.
References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::CQuaternion< T >::z().
Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().
double CPose3DQuatPDFGaussian::mahalanobisDistanceTo | ( | const CPose3DQuatPDFGaussian & | 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 369 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::math::mahalanobisDistance(), mean, MRPT_END, and MRPT_START.
void CPose3DQuatPDFGaussian::operator+= | ( | const CPose3DQuat & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 287 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.
void CPose3DQuatPDFGaussian::operator+= | ( | const CPose3DQuatPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
Definition at line 308 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.
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inline |
Unary - operator, returns the PDF of the inverse pose.
Definition at line 130 of file CPose3DQuatPDFGaussian.h.
References inverse(), and mrpt::math::UNINITIALIZED_QUATERNION.
void CPose3DQuatPDFGaussian::operator-= | ( | const CPose3DQuatPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
Definition at line 329 of file CPose3DQuatPDFGaussian.cpp.
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overridevirtual |
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines.
Implements mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.
Definition at line 173 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3DQuat::quat(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
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in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 90 of file CPose3DQuatPDFGaussian.cpp.
References cov, mrpt::math::deserializeSymmetricMatrixFrom(), mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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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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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 83 of file CPose3DQuatPDFGaussian.cpp.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 84 of file CPose3DQuatPDFGaussian.cpp.
References cov, mean, out, and mrpt::math::serializeSymmetricMatrixTo().
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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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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 90 of file CSerializable.h.
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static |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussian::cov |
The 7x7 covariance matrix.
Definition at line 81 of file CPose3DQuatPDFGaussian.h.
Referenced by changeCoordinatesReference(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), drawManySamples(), drawSingleSample(), enforceCovSymmetry(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), inverse(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DQuatPDFGaussTests::testPoseComposition(), and Pose3DQuatPDFGaussTests::testPoseInverseComposition().
CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussian::mean |
The mean value.
Definition at line 79 of file CPose3DQuatPDFGaussian.h.
Referenced by changeCoordinatesReference(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), getMean(), getPoseMean(), inverse(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DQuatPDFGaussTests::testPoseComposition(), and Pose3DQuatPDFGaussTests::testPoseInverseComposition().
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staticprotected |
Definition at line 45 of file CPose3DQuatPDFGaussian.h.
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staticinherited |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
Definition at line 32 of file CProbabilityDensityFunction.h.
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