Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top$ .

This class implements that PDF using a mono-modal Gaussian distribution storing the information matrix instead of its inverse, the covariance matrix. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.

Uncertainty of pose composition operations ( $y = x \oplus u$ ) is implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

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

See also: CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian

Definition at line 42 of file CPose3DQuatPDFGaussianInf.h.

#include <mrpt/poses/CPose3DQuatPDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussianInf:

Public Types
using	type_value = CPose3DQuat
	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
	CPose3DQuatPDFGaussianInf ()
	Default constructor - set all values to zero. More...

	CPose3DQuatPDFGaussianInf (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...

	CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean)
	Constructor from a default mean value, information matrix equals to zero. More...

	CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_CovInv)
	Constructor with mean and inverse covariance (information matrix). More...

const CPose3DQuat &	getPoseMean () const

CPose3DQuat &	getPoseMean ()

void	getMean (CPose3DQuat &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::CMatrixDouble77 &inf) const override
	Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More...

void	copyFrom (const CPose3DQuatPDF &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 PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information 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...

CPose3DQuatPDFGaussianInf	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 CPose3DQuatPDFGaussianInf &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 CPose3DQuatPDFGaussianInf &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...

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 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_inv
	The 7x7 information matrix (the inverse of the covariance) 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 = CPose3DQuatPDFGaussianInf

Protected Member Functions
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 ::CPose3DQuatPDFGaussianInf >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DQuatPDFGaussianInf >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DQuatPDFGaussianInf >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DQuatPDFGaussianInf >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPose3DQuatPDFGaussianInf"

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::CPose3DQuatPDFGaussianInf::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DQuatPDFGaussianInf >

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DQuatPDFGaussianInf::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DQuatPDFGaussianInf >

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

using mrpt::poses::CPose3DQuatPDFGaussianInf::Ptr = std::shared_ptr< mrpt::poses :: CPose3DQuatPDFGaussianInf >

A type for the associated smart pointer

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ self_t

using mrpt::poses::CPose3DQuatPDFGaussianInf::self_t = CPose3DQuatPDFGaussianInf

protected

Definition at line 46 of file CPose3DQuatPDFGaussianInf.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::type_value = CPose3DQuat

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPose3DQuatPDFGaussianInf::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DQuatPDFGaussianInf >

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

Constructor & Destructor Documentation

◆ CPose3DQuatPDFGaussianInf() [1/4]

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( )

Default constructor - set all values to zero.

Definition at line 42 of file CPose3DQuatPDFGaussianInf.cpp.

◆ CPose3DQuatPDFGaussianInf() [2/4]

mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( 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.

◆ CPose3DQuatPDFGaussianInf() [3/4]

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( const CPose3DQuat & init_Mean )

explicit

Constructor from a default mean value, information matrix equals to zero.

Constructor from a default mean value, covariance equals to zero.

Definition at line 51 of file CPose3DQuatPDFGaussianInf.cpp.

◆ CPose3DQuatPDFGaussianInf() [4/4]

CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf	(	const CPose3DQuat &	init_Mean,
		const mrpt::math::CMatrixDouble77 &	init_CovInv
	)

Constructor with mean and inverse covariance (information matrix).

Constructor with mean and covariance.

Definition at line 58 of file CPose3DQuatPDFGaussianInf.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::_GetBaseClass ( )

staticprotected

◆ changeCoordinatesReference() [1/2]

void CPose3DQuatPDFGaussianInf::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 144 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by changeCoordinatesReference().

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◆ changeCoordinatesReference() [2/2]

void CPose3DQuatPDFGaussianInf::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::CPose3DQuatPDF.

Definition at line 133 of file CPose3DQuatPDFGaussianInf.cpp.

References changeCoordinatesReference(), MRPT_END, and MRPT_START.

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DQuatPDFGaussianInf::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPose3DQuatPDFGaussianInf::copyFrom ( const CPose3DQuatPDF & o )

overridevirtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 98 of file CPose3DQuatPDFGaussianInf.cpp.

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

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DQuatPDFGaussianInf::Create ( Args &&... args )

inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DQuatPDFGaussianInf::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ createFrom2D()

CPose3DQuatPDF * CPose3DQuatPDF::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) 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.

See also: copyFrom

Definition at line 27 of file CPose3DQuatPDF.cpp.

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

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◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DQuatPDFGaussianInf::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DQuatPDFGaussianInf::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ drawManySamples()

void CPose3DQuatPDFGaussianInf::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 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 184 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, and MRPT_START.

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◆ drawSingleSample() [1/2]

void CPose3DQuatPDFGaussianInf::drawSingleSample ( CPose3DQuat & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 172 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, and MRPT_START.

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( CPose3DQuat & 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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◆ evaluateNormalizedPDF()

double CPose3DQuatPDFGaussianInf::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 299 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mean, and mrpt::math::normalPDFInf().

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◆ evaluatePDF()

double CPose3DQuatPDFGaussianInf::evaluatePDF ( const CPose3DQuat & x ) const

Evaluates the PDF at a given point.

Definition at line 290 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mean, and mrpt::math::normalPDFInf().

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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DQuatPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.; By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 95 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::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 106 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose3DQuatPDFGaussianInf::getClassName ( )

inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose3DQuat &	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::CPose3DQuatPDFGaussianInf::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< CPose3DQuat, 7 >.

Definition at line 77 of file CPose3DQuatPDFGaussianInf.h.

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

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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::CPose3DQuatPDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble77 & inf ) const

inlineoverride

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

See also: getMean, getCovarianceAndMean

Definition at line 84 of file CPose3DQuatPDFGaussianInf.h.

References cov_inv.

◆ getInformationMatrix() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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::CPose3DQuatPDFGaussianInf::getMean ( CPose3DQuat & mean_pose ) const

inlineoverride

Definition at line 74 of file CPose3DQuatPDFGaussianInf.h.

References mean.

◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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 CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean ( ) const

inline

Definition at line 71 of file CPose3DQuatPDFGaussianInf.h.

References mean.

◆ getPoseMean() [2/2]

CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean ( )

inline

Definition at line 72 of file CPose3DQuatPDFGaussianInf.h.

References mean.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DQuatPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DQuatPDFGaussianInf::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DQuatPDFGaussianInf::inverse ( CPose3DQuatPDF & o ) const

overridevirtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 201 of file CPose3DQuatPDFGaussianInf.cpp.

References ASSERT_, CLASS_ID, mrpt::math::CQuaternion< T >::conj(), cov_inv, mrpt::poses::CPose3DQuatPDF::GetRuntimeClass(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), 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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◆ isInfType()

bool mrpt::poses::CPose3DQuatPDFGaussianInf::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< CPose3DQuat, 7 >.

Definition at line 75 of file CPose3DQuatPDFGaussianInf.h.

◆ jacobiansPoseComposition()

void CPose3DQuatPDF::jacobiansPoseComposition	(	const CPose3DQuat &	x,
		const CPose3DQuat &	u,
		mrpt::math::CMatrixDouble77 &	df_dx,
		mrpt::math::CMatrixDouble77 &	df_du,
		CPose3DQuat *	out_x_oplus_u = `nullptr`
	)

staticinherited

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.

Parameters

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:

https://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations

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 changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), operator+=(), mrpt::poses::CPose3DQuatPDFGaussian::operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().

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◆ operator+=() [1/2]

void CPose3DQuatPDFGaussianInf::operator+= ( const CPose3DQuat & Ap )

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

Definition at line 232 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator+=() [2/2]

void CPose3DQuatPDFGaussianInf::operator+= ( const CPose3DQuatPDFGaussianInf & 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 254 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator-()

CPose3DQuatPDFGaussianInf mrpt::poses::CPose3DQuatPDFGaussianInf::operator- ( ) const

inline

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

Definition at line 120 of file CPose3DQuatPDFGaussianInf.h.

References inverse(), and mrpt::math::UNINITIALIZED_QUATERNION.

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◆ operator-=()

void CPose3DQuatPDFGaussianInf::operator-= ( const CPose3DQuatPDFGaussianInf & Ap )

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

Definition at line 279 of file CPose3DQuatPDFGaussianInf.cpp.

◆ saveToTextFile()

bool CPose3DQuatPDFGaussianInf::saveToTextFile ( const std::string & file ) const

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 information matrix in the next 7 lines.

Implements mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 111 of file CPose3DQuatPDFGaussianInf.cpp.

References cov_inv, 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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◆ serializeFrom() [1/2]

void CPose3DQuatPDFGaussianInf::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 74 of file CPose3DQuatPDFGaussianInf.cpp.

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

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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 CPose3DQuatPDFGaussianInf::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 64 of file CPose3DQuatPDFGaussianInf.cpp.

◆ serializeTo() [1/2]

void CPose3DQuatPDFGaussianInf::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 65 of file CPose3DQuatPDFGaussianInf.cpp.

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

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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::CPose3DQuatPDFGaussianInf::className = "mrpt::poses" "::" "CPose3DQuatPDFGaussianInf"

static

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ cov_inv

mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussianInf::cov_inv

The 7x7 information matrix (the inverse of the covariance)

Definition at line 69 of file CPose3DQuatPDFGaussianInf.h.

Referenced by changeCoordinatesReference(), copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), getInformationMatrix(), inverse(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), and serializeTo().

◆ mean

CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussianInf::mean

The mean value.

Definition at line 67 of file CPose3DQuatPDFGaussianInf.h.

Referenced by changeCoordinatesReference(), copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), getMean(), getPoseMean(), inverse(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), and serializeTo().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussianInf::runtimeClassId

staticprotected

Definition at line 45 of file CPose3DQuatPDFGaussianInf.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Constructor & Destructor Documentation

◆ CPose3DQuatPDFGaussianInf() [1/4]

◆ CPose3DQuatPDFGaussianInf() [2/4]

◆ CPose3DQuatPDFGaussianInf() [3/4]

◆ CPose3DQuatPDFGaussianInf() [4/4]

Member Function Documentation

◆ _GetBaseClass()

◆ changeCoordinatesReference() [1/2]

◆ changeCoordinatesReference() [2/2]

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ createFrom2D()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ evaluateNormalizedPDF()

◆ evaluatePDF()

◆ 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() [1/2]

◆ getInformationMatrix() [2/2]

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-()

◆ operator-=()

◆ saveToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ cov_inv

◆ mean

◆ runtimeClassId

◆ state_length