MRPT
2.0.2
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Declares a class that represents a Probability Density function (PDF) of a 3D point .
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPointPDFSOG::m_modes
See mrpt::poses::CPointPDF for more details.
Definition at line 33 of file CPointPDFSOG.h.
#include <mrpt/poses/CPointPDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode: More... | |
Public Types | |
using | CListGaussianModes = std::deque< TGaussianMode > |
using | const_iterator = std::deque< TGaussianMode >::const_iterator |
using | iterator = std::deque< TGaussianMode >::iterator |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
using | type_value = CPoint3D |
The type of the state the PDF represents. More... | |
using | self_t = CProbabilityDensityFunction< CPoint3D, 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 | |
CPointPDFSOG (size_t nModes=1) | |
Default constructor. More... | |
void | clear () |
Clear all the gaussian modes. More... | |
const TGaussianMode & | operator[] (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | operator[] (size_t i) |
Access to individual beacons. More... | |
const TGaussianMode & | get (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | get (size_t i) |
Access to individual beacons. More... | |
void | push_back (const TGaussianMode &m) |
Inserts a copy of the given mode into the SOG. More... | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
iterator | erase (iterator i) |
void | resize (const size_t N) |
Resize the number of SOG modes. More... | |
size_t | size () const |
Return the number of Gaussian modes. More... | |
bool | empty () const |
Return whether there is any Gaussian mode. More... | |
void | getMean (CPoint3D &mean_point) const override |
std::tuple< cov_mat_t, type_value > | getCovarianceAndMean () const override |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. More... | |
void | getMostLikelyMode (CPointPDFGaussian &outVal) const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More... | |
double | ESS () const |
Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]). More... | |
void | copyFrom (const CPointPDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
bool | saveToTextFile (const std::string &file) const override |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | drawSingleSample (CPoint3D &outSample) const override |
Draw a sample from the pdf. More... | |
void | bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More... | |
void | evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, mrpt::math::CMatrixD &outMatrix, bool sumOverAllZs=false) |
Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More... | |
double | evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const |
Evaluates the PDF at a given point. 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 , class OPENGL_SETOFOBJECTS > | |
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, CPoint3D &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 (CPoint3D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
virtual void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. 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 constexpr bool | is_3D () |
static constexpr bool | is_PDF () |
Static Public Attributes | |
static constexpr size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More... | |
Protected Member Functions | |
void | enforceCovSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More... | |
CSerializable virtual methods | |
uint8_t | serializeGetVersion () const override |
Must return the current versioning number of the object. More... | |
void | serializeTo (mrpt::serialization::CArchive &out) const override |
Pure virtual method for writing (serializing) to an abstract archive. More... | |
void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
CSerializable virtual methods | |
virtual void | serializeTo (CSchemeArchiveBase &out) const |
Virtual method for writing (serializing) to an abstract schema based archive. More... | |
virtual void | serializeFrom (CSchemeArchiveBase &in) |
Virtual method for reading (deserializing) from an abstract schema based archive. More... | |
Protected Attributes | |
CListGaussianModes | m_modes |
The list of SOG modes. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< mrpt::poses ::CPointPDFSOG > |
using | ConstPtr = std::shared_ptr< const mrpt::poses ::CPointPDFSOG > |
using | UniquePtr = std::unique_ptr< mrpt::poses ::CPointPDFSOG > |
using | ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPointPDFSOG > |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "mrpt::poses" "::" "CPointPDFSOG" |
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::CPointPDFSOG::CListGaussianModes = std::deque<TGaussianMode> |
Definition at line 50 of file CPointPDFSOG.h.
using mrpt::poses::CPointPDFSOG::const_iterator = std::deque<TGaussianMode>::const_iterator |
Definition at line 51 of file CPointPDFSOG.h.
using mrpt::poses::CPointPDFSOG::ConstPtr = std::shared_ptr<const mrpt::poses :: CPointPDFSOG > |
Definition at line 35 of file CPointPDFSOG.h.
using mrpt::poses::CPointPDFSOG::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPointPDFSOG > |
Definition at line 35 of file CPointPDFSOG.h.
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Covariance matrix type.
Definition at line 37 of file CProbabilityDensityFunction.h.
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Information matrix type.
Definition at line 39 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPointPDFSOG::iterator = std::deque<TGaussianMode>::iterator |
Definition at line 52 of file CPointPDFSOG.h.
using mrpt::poses::CPointPDFSOG::Ptr = std::shared_ptr< mrpt::poses :: CPointPDFSOG > |
A type for the associated smart pointer
Definition at line 35 of file CPointPDFSOG.h.
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Definition at line 35 of file CProbabilityDensityFunction.h.
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The type of the state the PDF represents.
Definition at line 34 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPointPDFSOG::UniquePtr = std::unique_ptr< mrpt::poses :: CPointPDFSOG > |
Definition at line 35 of file CPointPDFSOG.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 64 of file CPointPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 69 of file CPointPDF.h.
CPointPDFSOG::CPointPDFSOG | ( | size_t | nModes = 1 | ) |
Default constructor.
nModes | The initial size of CPointPDFSOG::m_modes |
Definition at line 35 of file CPointPDFSOG.cpp.
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overridevirtual |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)
p1 | The first distribution to fuse |
p2 | The second distribution to fuse |
minMahalanobisDistToDrop | If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. |
Implements mrpt::poses::CPointPDF.
Definition at line 249 of file CPointPDFSOG.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, mrpt::poses::CPointPDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPointPDFGaussian::cov, mrpt::math::MatrixBase< Scalar, Derived >::det(), mrpt::poses::CPointPDF::GetRuntimeClass(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::square(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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inline |
Definition at line 100 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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Definition at line 102 of file CPointPDFSOG.h.
References m_modes.
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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::CPointPDF.
Definition at line 200 of file CPointPDFSOG.cpp.
void CPointPDFSOG::clear | ( | ) |
Clear all the gaussian modes.
Definition at line 39 of file CPointPDFSOG.cpp.
Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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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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Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPointPDF.
Definition at line 158 of file CPointPDFSOG.cpp.
References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPointPDF::GetRuntimeClass(), MRPT_END, MRPT_START, resize(), and val.
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inlinestatic |
Definition at line 35 of file CPointPDFSOG.h.
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inlinestatic |
Definition at line 35 of file CPointPDFSOG.h.
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inlinestatic |
Definition at line 35 of file CPointPDFSOG.h.
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inlinevirtualinherited |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.
Definition at line 151 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Draws a single sample from the distribution.
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override |
Draw a sample from the pdf.
Definition at line 208 of file CPointPDFSOG.cpp.
References ASSERT_, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::math::CVectorDynamic< T >::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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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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Return whether there is any Gaussian mode.
Definition at line 110 of file CPointPDFSOG.h.
References m_modes.
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inline |
Definition at line 101 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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Definition at line 103 of file CPointPDFSOG.h.
References m_modes.
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Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 387 of file CPointPDFSOG.cpp.
References MRPT_END, and MRPT_START.
Definition at line 104 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
double CPointPDFSOG::ESS | ( | ) | const |
Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).
Definition at line 424 of file CPointPDFSOG.cpp.
References MRPT_END, MRPT_START, and mrpt::square().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
double CPointPDFSOG::evaluatePDF | ( | const CPoint3D & | x, |
bool | sumOverAllZs | ||
) | const |
Evaluates the PDF at a given point.
Definition at line 479 of file CPointPDFSOG.cpp.
References mrpt::math::normalPDF(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
void CPointPDFSOG::evaluatePDFInArea | ( | float | x_min, |
float | x_max, | ||
float | y_min, | ||
float | y_max, | ||
float | resolutionXY, | ||
float | z, | ||
mrpt::math::CMatrixD & | outMatrix, | ||
bool | sumOverAllZs = false |
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Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
Definition at line 449 of file CPointPDFSOG.cpp.
References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::CMatrixDynamic< T >::setSize().
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inline |
Access to individual beacons.
Definition at line 86 of file CPointPDFSOG.h.
References ASSERT_, and m_modes.
Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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inline |
Access to individual beacons.
Definition at line 92 of file CPointPDFSOG.h.
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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 83 of file CPointPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 94 of file CPointPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlinestatic |
Definition at line 35 of file CPointPDFSOG.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 88 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 98 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 108 of file CProbabilityDensityFunction.h.
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inlinefinalvirtualinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 54 of file CProbabilityDensityFunction.h.
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Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.
Definition at line 80 of file CPointPDFSOG.cpp.
References mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 65 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 167 of file CProbabilityDensityFunction.h.
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inlinevirtualinherited |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
Definition at line 130 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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override |
Definition at line 49 of file CPointPDFSOG.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 77 of file CProbabilityDensityFunction.h.
void CPointPDFSOG::getMostLikelyMode | ( | CPointPDFGaussian & | outVal | ) | const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
Definition at line 525 of file CPointPDFSOG.cpp.
References mrpt::containers::empty().
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPointPDF.
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inlinestaticinherited |
Definition at line 68 of file CPointPDF.h.
References mrpt::poses::CPointPDF::is_3D_val.
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inlinestaticinherited |
Definition at line 73 of file CPointPDF.h.
References mrpt::poses::CPointPDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Definition at line 123 of file CProbabilityDensityFunction.h.
void CPointPDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
Definition at line 405 of file CPointPDFSOG.cpp.
References MRPT_END, and MRPT_START.
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
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Access to individual beacons.
Definition at line 73 of file CPointPDFSOG.h.
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inline |
Access to individual beacons.
Definition at line 79 of file CPointPDFSOG.h.
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inline |
Inserts a copy of the given mode into the SOG.
Definition at line 99 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
void CPointPDFSOG::resize | ( | const size_t | N | ) |
Resize the number of SOG modes.
Definition at line 43 of file CPointPDFSOG.cpp.
Referenced by mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.
Definition at line 182 of file CPointPDFSOG.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().
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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 130 of file CPointPDFSOG.cpp.
References mrpt::math::deserializeSymmetricMatrixFrom(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and resize().
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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 118 of file CPointPDFSOG.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 119 of file CPointPDFSOG.cpp.
References out, and mrpt::math::serializeSymmetricMatrixTo().
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inlineprotectedvirtualinherited |
Virtual method for writing (serializing) to an abstract schema based archive.
Definition at line 64 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
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inline |
Return the number of Gaussian modes.
Definition at line 108 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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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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Definition at line 35 of file CPointPDFSOG.h.
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The list of SOG modes.
Definition at line 61 of file CPointPDFSOG.h.
Referenced by begin(), empty(), end(), erase(), get(), operator[](), push_back(), and size().
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staticprotected |
Definition at line 35 of file CPointPDFSOG.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.
Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().
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