Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).

This class implements that PDF using a 3D grid.

See also: CPose2D, CPosePDF, CPose2DGridTemplate

Definition at line 24 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:

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	self_t = CProbabilityDensityFunction< CPose2D, 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
	CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::DEG2RAD(180.0), double phiMin=-M_PI, double phiMax=M_PI)
	Constructor: Initializes a, uniform distribution over the whole given range. More...

	~CPosePDFGrid () override
	Destructor. More...

void	copyFrom (const CPosePDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

void	normalize ()
	Normalizes the PDF, such as all cells sum the unity. More...

void	uniformDistribution ()
	Assigns the same value to all the cells in the grid, so the sum 1. More...

void	getMean (CPose2D &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...

bool	saveToTextFile (const std::string &dataFile) const override
	Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". More...

void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
	this = p (+) this. More...

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
	Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication) More...

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

void	drawSingleSample (CPose2D &outPart) const override
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) 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...

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 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 (CPose2D &outPart) const=0
	Draws a single sample from the distribution. More...

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix. More...

size_t	x2idx (double x) const
	Returns "indexes" from coordinates: More...

size_t	y2idx (double y) const
	Returns "indexes" from coordinates: More...

size_t	phi2idx (double phi) const
	Returns "indexes" from coordinates: More...

double	idx2x (size_t x) const
	Returns coordinates from "indexes": More...

double	idx2y (size_t y) const
	Returns coordinates from "indexes": More...

double	idx2phi (size_t phi) const
	Returns coordinates from "indexes": More...

void	setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PI, double phiMax=M_PI)
	Changes the limits and size of the grid, erasing previous contents: More...

const double *	getByPos (double x, double y, double phi) const
	Reads the contents of a cell. More...

double *	getByPos (double x, double y, double phi)
	Reads the contents of a cell. More...

const double *	getByIndex (size_t x, size_t y, size_t phi) const
	Reads the contents of a cell. More...

double *	getByIndex (size_t x, size_t y, size_t phi)
	Reads the contents of a cell. More...

void	getAsMatrix (double phi, MATRIXLIKE &outMat)
	Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". More...

double	getXMin () const
	Get info about the grid: More...

double	getXMax () const

double	getYMin () const

double	getYMax () const

double	getPhiMin () const

double	getPhiMax () const

double	getResolutionXY () const

double	getResolutionPhi () const

size_t	getSizeX () const

size_t	getSizeY () const

size_t	getSizePhi () const

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 ()

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
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
double	m_xMin
	The limits and resolution of the grid: More...

double	m_xMax

double	m_yMin

double	m_yMax

double	m_phiMin

double	m_phiMax

double	m_resolutionXY

double	m_resolutionPhi

size_t	m_sizeX
	The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi. More...

size_t	m_sizeY

size_t	m_sizePhi

size_t	m_sizeXY

int	m_idxLeftX
	The indexes of the "left" borders: More...

int	m_idxLeftY

int	m_idxLeftPhi

std::vector< double >	m_data
	The data: More...

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

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

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

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

Definition at line 26 of file CPosePDFGrid.h.

◆ ConstUniquePtr

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

Definition at line 26 of file CPosePDFGrid.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , 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< CPose2D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 26 of file CPosePDFGrid.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose2D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value = CPose2D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

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

Definition at line 26 of file CPosePDFGrid.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 94 of file CPosePDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 99 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFGrid()

CPosePDFGrid::CPosePDFGrid	(	double	xMin = `-1.0f`,
		double	xMax = `1.0f`,
		double	yMin = `-1.0f`,
		double	yMax = `1.0f`,
		double	resolutionXY = `0.5f`,
		double	resolutionPhi = `mrpt::DEG2RAD(180.0)`,
		double	phiMin = `-M_PI`,
		double	phiMax = `M_PI`
	)

Constructor: Initializes a, uniform distribution over the whole given range.

Definition at line 32 of file CPosePDFGrid.cpp.

◆ ~CPosePDFGrid()

CPosePDFGrid::~CPosePDFGrid ( )

overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ bayesianFusion()

void CPosePDFGrid::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double	minMahalanobisDistToDrop = `0`
	)

overridevirtual

Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

Implements mrpt::poses::CPosePDF.

Definition at line 180 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPosePDFGrid::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::CPosePDF.

Definition at line 171 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPosePDFGrid::copyFrom ( const CPosePDF & o )

overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 41 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 26 of file CPosePDFGrid.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 26 of file CPosePDFGrid.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 26 of file CPosePDFGrid.h.

◆ drawManySamples()

void CPosePDFGrid::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 206 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPosePDFGrid::drawSingleSample ( CPose2D & outPart ) const

override

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 198 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & 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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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::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 113 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 124 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAsMatrix()

void mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix	(	double	phi,
		MATRIXLIKE &	outMat
	)

inlineinherited

Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

Definition at line 182 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_data, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeY, MRPT_END, MRPT_START, and mrpt::poses::CPose2DGridTemplate< T >::phi2idx().

◆ getByIndex() [1/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)		const

inlineinherited

Reads the contents of a cell.

Definition at line 164 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_data, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY, and mrpt::poses::CPose2DGridTemplate< T >::m_sizeY.

◆ getByIndex() [2/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)

inlineinherited

Reads the contents of a cell.

Definition at line 172 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_data, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_sizeXY, and mrpt::poses::CPose2DGridTemplate< T >::m_sizeY.

◆ getByPos() [1/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)		const

inlineinherited

Reads the contents of a cell.

Definition at line 150 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::getByIndex(), mrpt::poses::CPose2DGridTemplate< T >::phi2idx(), mrpt::poses::CPose2DGridTemplate< T >::x2idx(), and mrpt::poses::CPose2DGridTemplate< T >::y2idx().

◆ getByPos() [2/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)

inlineinherited

Reads the contents of a cell.

Definition at line 157 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::getByIndex(), mrpt::poses::CPose2DGridTemplate< T >::phi2idx(), mrpt::poses::CPose2DGridTemplate< T >::x2idx(), and mrpt::poses::CPose2DGridTemplate< T >::y2idx().

◆ getClassName()

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

inlinestatic

Definition at line 26 of file CPosePDFGrid.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ getCovarianceAndMean() [1/2]

std::tuple< CMatrixDouble33, CPose2D > CPosePDFGrid::getCovarianceAndMean ( ) const

overridevirtual

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 73 of file CPosePDFGrid.cpp.

References mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, and mrpt::poses::CPosePDFParticles::resetDeterministic().

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◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose2D &	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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::mean().

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), and mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt().

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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 CPosePDFGrid::getMean ( CPose2D & mean_pose ) const

override

Definition at line 58 of file CPosePDFGrid.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

◆ getPhiMax()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const

inlineinherited

Definition at line 201 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_phiMax.

◆ getPhiMin()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const

inlineinherited

Definition at line 200 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_phiMin.

◆ getResolutionPhi()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const

inlineinherited

Definition at line 203 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi.

◆ getResolutionXY()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const

inlineinherited

Definition at line 202 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

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

static

◆ getSizePhi()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const

inlineinherited

Definition at line 206 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi.

◆ getSizeX()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const

inlineinherited

Definition at line 204 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_sizeX.

◆ getSizeY()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const

inlineinherited

Definition at line 205 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_sizeY.

◆ getXMax()

double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const

inlineinherited

Definition at line 197 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_xMax.

◆ getXMin()

double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const

inlineinherited

Get info about the grid:

Definition at line 196 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_xMin.

◆ getYMax()

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const

inlineinherited

Definition at line 199 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_yMax.

◆ getYMin()

double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const

inlineinherited

Definition at line 198 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_yMin.

◆ idx2phi()

double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t phi ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 88 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_phiMin, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi, and mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi.

◆ idx2x()

double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t x ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 72 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, and mrpt::poses::CPose2DGridTemplate< T >::m_xMin.

◆ idx2y()

double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t y ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 80 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeY, and mrpt::poses::CPose2DGridTemplate< T >::m_yMin.

◆ inverse()

void CPosePDFGrid::inverse ( CPosePDF & o ) const

overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 190 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ is_3D()

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

inlinestaticinherited

Definition at line 98 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

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

inlinestaticinherited

Definition at line 103 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::isInfType ( ) const

inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note: By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.

See also: mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPosePDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition() [1/2]

void CPosePDF::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`
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

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 mrpt::poses::CPosePDFGaussianInf::operator+=().

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◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du
	)

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().

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◆ normalize()

void CPosePDFGrid::normalize ( )

Normalizes the PDF, such as all cells sum the unity.

Definition at line 216 of file CPosePDFGrid.cpp.

Referenced by TEST().

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◆ phi2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double phi ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 63 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_phiMin, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionPhi, mrpt::poses::CPose2DGridTemplate< T >::m_sizePhi, and mrpt::round().

◆ saveToTextFile()

bool CPosePDFGrid::saveToTextFile ( const std::string & dataFile ) const

overridevirtual

Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

Returns: false on error

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 141 of file CPosePDFGrid.cpp.

References mrpt::format().

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◆ serializeFrom() [1/2]

void CPosePDFGrid::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 107 of file CPosePDFGrid.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CPosePDFGrid::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 93 of file CPosePDFGrid.cpp.

◆ serializeTo() [1/2]

void CPosePDFGrid::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 94 of file CPosePDFGrid.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setSize()

void mrpt::poses::CPose2DGridTemplate< double >::setSize	(	double	xMin,
		double	xMax,
		double	yMin,
		double	yMax,
		double	resolutionXY,
		double	resolutionPhi,
		double	phiMin = `-M_PI`,
		double	phiMax = `M_PI`
	)

inlineinherited

Changes the limits and size of the grid, erasing previous contents:

Definition at line 111 of file CPose2DGridTemplate.h.

◆ uniformDistribution()

void CPosePDFGrid::uniformDistribution ( )

Assigns the same value to all the cells in the grid, so the sum 1.

Definition at line 233 of file CPosePDFGrid.cpp.

References val.

◆ 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.

◆ x2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::x2idx ( double x ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 45 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeX, mrpt::poses::CPose2DGridTemplate< T >::m_xMin, and mrpt::round().

◆ y2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::y2idx ( double y ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 54 of file CPose2DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose2DGridTemplate< T >::m_resolutionXY, mrpt::poses::CPose2DGridTemplate< T >::m_sizeY, mrpt::poses::CPose2DGridTemplate< T >::m_yMin, and mrpt::round().

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPosePDFGrid::className = "mrpt::poses" "::" "CPosePDFGrid"

static

Definition at line 26 of file CPosePDFGrid.h.

◆ m_data

std::vector<double > mrpt::poses::CPose2DGridTemplate< double >::m_data

protectedinherited

The data:

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_idxLeftPhi

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftPhi

protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_idxLeftX

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftX

protectedinherited

The indexes of the "left" borders:

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_idxLeftY

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftY

protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_phiMax

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMax

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_phiMin

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMin

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_resolutionPhi

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionPhi

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_resolutionXY

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionXY

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_sizePhi

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizePhi

protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizeX

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeX

protectedinherited

The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizeXY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeXY

protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizeY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeY

protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_xMax

double mrpt::poses::CPose2DGridTemplate< double >::m_xMax

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_xMin

double mrpt::poses::CPose2DGridTemplate< double >::m_xMin

protectedinherited

The limits and resolution of the grid:

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_yMax

double mrpt::poses::CPose2DGridTemplate< double >::m_yMax

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_yMin

double mrpt::poses::CPose2DGridTemplate< double >::m_yMin

protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPosePDFGrid::runtimeClassId

staticprotected

Definition at line 26 of file CPosePDFGrid.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPosePDFGrid()

◆ ~CPosePDFGrid()

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getAsMatrix()

◆ getByIndex() [1/2]

◆ getByIndex() [2/2]

◆ getByPos() [1/2]

◆ getByPos() [2/2]

◆ getClassName()

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPhiMax()

◆ getPhiMin()

◆ getResolutionPhi()

◆ getResolutionXY()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSizePhi()

◆ getSizeX()

◆ getSizeY()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ idx2phi()

◆ idx2x()

◆ idx2y()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition() [1/2]

◆ jacobiansPoseComposition() [2/2]

◆ normalize()

◆ phi2idx()