MRPT
2.0.1
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A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the covariance.
This class implements a PDF as a mono-modal Gaussian distribution in its information form, that is, keeping the inverse of the covariance matrix instead of the covariance matrix itself.
This class is the dual of CPosePDFGaussian.
Definition at line 33 of file CPosePDFGaussianInf.h.
#include <mrpt/poses/CPosePDFGaussianInf.h>
Public Types | |
enum | { is_3D_val = 0 } |
enum | { is_PDF_val = 1 } |
using | type_value = CPose2D |
The type of the state the PDF represents. More... | |
using | cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN > |
Covariance matrix type. More... | |
using | inf_mat_t = cov_mat_t |
Information matrix type. More... | |
Public Member Functions | |
const CPose2D & | getPoseMean () const |
CPose2D & | getPoseMean () |
CPosePDFGaussianInf () | |
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!) More... | |
CPosePDFGaussianInf (const CPose2D &init_Mean) | |
Constructor with a mean value (inverse covariance=all zeros -> so be careful!) More... | |
CPosePDFGaussianInf (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_CovInv) | |
Constructor. More... | |
CPosePDFGaussianInf (const CPosePDF &o) | |
Copy constructor, including transformations between other PDFs. More... | |
CPosePDFGaussianInf (const CPose3DPDF &o) | |
Copy constructor, including transformations between other PDFs. More... | |
void | getMean (CPose2D &mean_pose) const override |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More... | |
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::CMatrixDouble33 &inf) const override |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More... | |
void | copyFrom (const CPosePDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | copyFrom (const CPose3DPDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
bool | saveToTextFile (const std::string &file) const override |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | changeCoordinatesReference (const CPose2D &newReferenceBase) |
this = p (+) this. More... | |
void | rotateCov (const double ang) |
Rotate the covariance matrix by replacing it by , where . More... | |
void | inverseComposition (const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &ref) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!). More... | |
void | inverseComposition (const CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &x0, const mrpt::math::CMatrixDouble33 &COV_01) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1). More... | |
void | drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum. More... | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override |
Bayesian fusion of two points gauss. More... | |
void | inverse (CPosePDF &o) const override |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | operator+= (const CPose2D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const CPose2D &x) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const CPose2D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More... | |
double | mahalanobisDistanceTo (const CPosePDFGaussianInf &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. More... | |
void | operator+= (const CPosePDFGaussianInf &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 CPosePDFGaussianInf &ref) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) 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, CPose2D &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 (CPose2D &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 void | jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true) |
This static method computes the pose composition Jacobians, with these formulas: More... | |
static void | jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du) |
static constexpr bool | is_3D () |
static constexpr bool | is_PDF () |
Public Attributes | |
Data fields | |
CPose2D | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble33 | cov_inv |
The inverse of the 3x3 covariance matrix (the "information" matrix) More... | |
Static Public Attributes | |
static constexpr size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More... | |
Protected Types | |
using | self_t = CPosePDFGaussianInf |
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 ::CPosePDFGaussianInf > |
using | ConstPtr = std::shared_ptr< const mrpt::poses ::CPosePDFGaussianInf > |
using | UniquePtr = std::unique_ptr< mrpt::poses ::CPosePDFGaussianInf > |
using | ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPosePDFGaussianInf > |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "mrpt::poses" "::" "CPosePDFGaussianInf" |
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::CPosePDFGaussianInf::ConstPtr = std::shared_ptr<const mrpt::poses :: CPosePDFGaussianInf > |
Definition at line 36 of file CPosePDFGaussianInf.h.
using mrpt::poses::CPosePDFGaussianInf::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPosePDFGaussianInf > |
Definition at line 36 of file CPosePDFGaussianInf.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::CPosePDFGaussianInf::Ptr = std::shared_ptr< mrpt::poses :: CPosePDFGaussianInf > |
A type for the associated smart pointer
Definition at line 36 of file CPosePDFGaussianInf.h.
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protected |
Definition at line 38 of file CPosePDFGaussianInf.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::CPosePDFGaussianInf::UniquePtr = std::unique_ptr< mrpt::poses :: CPosePDFGaussianInf > |
Definition at line 36 of file CPosePDFGaussianInf.h.
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Enumerator | |
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is_3D_val |
Definition at line 94 of file CPosePDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 99 of file CPosePDF.h.
CPosePDFGaussianInf::CPosePDFGaussianInf | ( | ) |
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!)
Definition at line 39 of file CPosePDFGaussianInf.cpp.
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explicit |
Constructor with a mean value (inverse covariance=all zeros -> so be careful!)
Definition at line 52 of file CPosePDFGaussianInf.cpp.
CPosePDFGaussianInf::CPosePDFGaussianInf | ( | const CPose2D & | init_Mean, |
const mrpt::math::CMatrixDouble33 & | init_CovInv | ||
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Constructor.
Definition at line 43 of file CPosePDFGaussianInf.cpp.
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inlineexplicit |
Copy constructor, including transformations between other PDFs.
Definition at line 73 of file CPosePDFGaussianInf.h.
References copyFrom().
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inlineexplicit |
Copy constructor, including transformations between other PDFs.
Definition at line 75 of file CPosePDFGaussianInf.h.
References copyFrom().
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staticprotected |
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overridevirtual |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPosePDF.
Definition at line 282 of file CPosePDFGaussianInf.cpp.
References mrpt::math::CMatrixDynamic< T >::asEigen(), ASSERT_, CLASS_ID, mrpt::math::cov(), cov_inv, mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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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::CPosePDF.
Definition at line 191 of file CPosePDFGaussianInf.cpp.
References mrpt::poses::CPose2D::composeFrom(), mean, mrpt::poses::CPose2D::phi(), and rotateCov().
Referenced by operator+().
void CPosePDFGaussianInf::changeCoordinatesReference | ( | const CPose2D & | 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 206 of file CPosePDFGaussianInf.cpp.
References mrpt::poses::CPose2D::composeFrom(), mean, mrpt::poses::CPose2D::phi(), and rotateCov().
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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::CPosePDF.
Definition at line 114 of file CPosePDFGaussianInf.cpp.
References cov_inv, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), IS_CLASS, mean, and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by CPosePDFGaussianInf(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().
void CPosePDFGaussianInf::copyFrom | ( | const CPose3DPDF & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Definition at line 137 of file CPosePDFGaussianInf.cpp.
References cov_inv, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), IS_CLASS, mean, and mrpt::math::UNINITIALIZED_MATRIX.
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inlinestatic |
Definition at line 36 of file CPosePDFGaussianInf.h.
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inlinestatic |
Definition at line 36 of file CPosePDFGaussianInf.h.
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static |
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inlinestatic |
Definition at line 36 of file CPosePDFGaussianInf.h.
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overridevirtual |
Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.
Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.
Definition at line 255 of file CPosePDFGaussianInf.cpp.
References mrpt::math::cov(), cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::math::wrapToPiInPlace(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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override |
Draws a single sample from the distribution.
Definition at line 235 of file CPosePDFGaussianInf.cpp.
References mrpt::math::cov(), cov_inv, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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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 377 of file CPosePDFGaussianInf.cpp.
References cov_inv.
double CPosePDFGaussianInf::evaluateNormalizedPDF | ( | const CPose2D & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
Definition at line 364 of file CPosePDFGaussianInf.cpp.
References mrpt::math::cov(), cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, and mrpt::math::normalPDF().
double CPosePDFGaussianInf::evaluatePDF | ( | const CPose2D & | x | ) | const |
Evaluates the PDF at a given point.
Definition at line 353 of file CPosePDFGaussianInf.cpp.
References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse(), 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 113 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 124 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlinestatic |
Definition at line 36 of file CPosePDFGaussianInf.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.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().
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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.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().
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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.
References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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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.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::mean().
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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< CPose2D, 3 >.
Definition at line 82 of file CPosePDFGaussianInf.h.
References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), and mean.
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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.
References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 167 of file CProbabilityDensityFunction.h.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().
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inlineoverride |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
Definition at line 89 of file CPosePDFGaussianInf.h.
References cov_inv.
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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.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), and mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt().
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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inlineoverride |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 79 of file CPosePDFGaussianInf.h.
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.
References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().
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inline |
Definition at line 57 of file CPosePDFGaussianInf.h.
References mean.
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inline |
Definition at line 58 of file CPosePDFGaussianInf.h.
References mean.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
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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::CPosePDF.
Definition at line 317 of file CPosePDFGaussianInf.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, CLASS_ID, cov_inv, mrpt::poses::CPosePDF::GetRuntimeClass(), mean, out, mrpt::poses::CPose2D::phi(), mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
void CPosePDFGaussianInf::inverseComposition | ( | const CPosePDFGaussianInf & | x, |
const CPosePDFGaussianInf & | ref | ||
) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!).
Definition at line 443 of file CPosePDFGaussianInf.cpp.
References mrpt::poses::CPosePDFGaussian::cov, cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPosePDFGaussian::inverseComposition(), mrpt::poses::CPosePDFGaussian::mean, and mean.
Referenced by mrpt::poses::operator-(), and operator-=().
void CPosePDFGaussianInf::inverseComposition | ( | const CPosePDFGaussianInf & | x1, |
const CPosePDFGaussianInf & | x0, | ||
const mrpt::math::CMatrixDouble33 & | COV_01 | ||
) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1).
Definition at line 467 of file CPosePDFGaussianInf.cpp.
References mrpt::poses::CPosePDFGaussian::cov, cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPosePDFGaussian::inverseComposition(), mrpt::poses::CPosePDFGaussian::mean, and mean.
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inlinestaticinherited |
Definition at line 98 of file CPosePDF.h.
References mrpt::poses::CPosePDF::is_3D_val.
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inlinestaticinherited |
Definition at line 103 of file CPosePDF.h.
References mrpt::poses::CPosePDF::is_PDF_val.
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inlineoverridevirtual |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.
Definition at line 80 of file CPosePDFGaussianInf.h.
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staticinherited |
This static method computes the pose composition Jacobians, with these formulas:
Definition at line 32 of file CPosePDF.cpp.
References mrpt::poses::CPose2D::phi(), mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and operator+=().
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staticinherited |
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 22 of file CPosePDF.cpp.
References mrpt::poses::CPosePDF::jacobiansPoseComposition().
double CPosePDFGaussianInf::mahalanobisDistanceTo | ( | const CPosePDFGaussianInf & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
Definition at line 389 of file CPosePDFGaussianInf.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, mrpt::math::multiply_HtCH_scalar(), and mrpt::math::wrapToPiInPlace().
void CPosePDFGaussianInf::operator+= | ( | const CPose2D & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 344 of file CPosePDFGaussianInf.cpp.
References mean, and rotateCov().
void CPosePDFGaussianInf::operator+= | ( | const CPosePDFGaussianInf & | 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 489 of file CPosePDFGaussianInf.cpp.
References cov_inv, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mean, and mrpt::math::multiply_HCHt().
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inline |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
Definition at line 185 of file CPosePDFGaussianInf.h.
References inverseComposition().
void CPosePDFGaussianInf::rotateCov | ( | const double | ang | ) |
Rotate the covariance matrix by replacing it by , where .
Definition at line 218 of file CPosePDFGaussianInf.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), and cov_inv.
Referenced by changeCoordinatesReference(), and operator+=().
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overridevirtual |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.
Definition at line 173 of file CPosePDFGaussianInf.cpp.
References cov_inv, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose2D::phi(), 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;
.
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 64 of file CPosePDFGaussianInf.cpp.
References cov_inv, mean, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.
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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 57 of file CPosePDFGaussianInf.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 58 of file CPosePDFGaussianInf.cpp.
References cov_inv, mean, out, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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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 36 of file CPosePDFGaussianInf.h.
mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussianInf::cov_inv |
The inverse of the 3x3 covariance matrix (the "information" matrix)
Definition at line 53 of file CPosePDFGaussianInf.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), bayesianFusion(), copyFrom(), drawManySamples(), drawSingleSample(), enforceCovSymmetry(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), getInformationMatrix(), inverse(), inverseComposition(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), rotateCov(), saveToTextFile(), serializeFrom(), serializeTo(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().
CPose2D mrpt::poses::CPosePDFGaussianInf::mean |
The mean value.
Definition at line 51 of file CPosePDFGaussianInf.h.
Referenced by bayesianFusion(), changeCoordinatesReference(), copyFrom(), mrpt::graphs::detail::TPosePDFHelper< CPose2D >::copyFrom2D(), mrpt::graphs::detail::TPosePDFHelper< CPose3D >::copyFrom2D(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), getMean(), getPoseMean(), inverse(), inverseComposition(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().
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staticprotected |
Definition at line 36 of file CPosePDFGaussianInf.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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