CPose3DQuatPDFGaussianInf.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers

#include <mrpt/poses/CPose3DQuatPDFGaussianInf.h>
#include <mrpt/utils/types_math.h>  // for CMatrixF...
#include <stdio.h>  // for size_t
#include <algorithm>  // for move, max
#include <exception>  // for exception
#include <new>  // for operator...
#include <ostream>  // for operator<<
#include <string>  // for allocator
#include <vector>  // for vector
#include <mrpt/math/CMatrixFixedNumeric.h>  // for CMatrixF...
#include <mrpt/math/CQuaternion.h>  // for CQuatern...
#include <mrpt/poses/CPose3D.h>  // for CPose3D
#include <mrpt/poses/CPose3DQuat.h>  // for CPose3DQuat
#include <mrpt/poses/CPose3DQuatPDF.h>  // for CPose3DQ...
#include <mrpt/random/RandomGenerators.h>  // for CRandomG...
#include <mrpt/utils/CObject.h>  // for CPose3DQ...
#include <mrpt/utils/CSerializable.h>  // for CSeriali...
#include <mrpt/utils/bits.h>  // for size
#include <mrpt/utils/mrpt_macros.h>  // for MRPT_END
#include <mrpt/system/os.h>  // for fopen
#include <mrpt/math/distributions.h>

using namespace mrpt;
using namespace mrpt::system;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::random;
using namespace mrpt::utils;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CPose3DQuatPDFGaussianInf, CPose3DQuatPDF, mrpt::poses)

/** Default constructor - set all values to zero. */
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf() : mean(), cov_inv() {}
// Un-initialized constructor:
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf(
        TConstructorFlags_Quaternions constructor_dummy_param)
        : mean(UNINITIALIZED_QUATERNION), cov_inv(UNINITIALIZED_MATRIX)
{
        MRPT_UNUSED_PARAM(constructor_dummy_param);
}

/** Constructor from a default mean value, covariance equals to zero. */
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf(
        const CPose3DQuat& init_Mean)
        : mean(init_Mean), cov_inv()
{
}

/** Constructor with mean and covariance. */
CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf(
        const CPose3DQuat& init_Mean, const CMatrixDouble77& init_CovInv)
        : mean(init_Mean), cov_inv(init_CovInv)
{
}

/*---------------------------------------------------------------
                                                writeToStream
  ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                out << mean;

                for (size_t r = 0; r < size(cov_inv, 1); r++)
                        out << cov_inv.get_unsafe(r, r);
                for (size_t r = 0; r < size(cov_inv, 1); r++)
                        for (size_t c = r + 1; c < size(cov_inv, 2); c++)
                                out << cov_inv.get_unsafe(r, c);
        }
}

/*---------------------------------------------------------------
                                                readFromStream
  ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        in >> mean;

                        for (size_t r = 0; r < size(cov_inv, 1); r++)
                                in >> cov_inv.get_unsafe(r, r);
                        for (size_t r = 0; r < size(cov_inv, 1); r++)
                                for (size_t c = r + 1; c < size(cov_inv, 2); c++)
                                {
                                        double x;
                                        in >> x;
                                        cov_inv.get_unsafe(r, c) = cov_inv.get_unsafe(c, r) = x;
                                }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CPose3DQuatPDFGaussianInf::copyFrom(const CPose3DQuatPDF& o)
{
        if (this == &o) return;  // It may be used sometimes

        // Convert to gaussian pdf:
        CMatrixDouble77 C(UNINITIALIZED_MATRIX);
        o.getCovarianceAndMean(C, this->mean);
        C.inv_fast(this->cov_inv);
}

/*---------------------------------------------------------------
                                        saveToTextFile
  ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::saveToTextFile(const string& file) const
{
        FILE* f = os::fopen(file.c_str(), "wt");
        if (!f) return;

        os::fprintf(
                f, "%e %e %e %e %e %e %e\n", mean.x(), mean.y(), mean.z(),
                mean.quat()[0], mean.quat()[1], mean.quat()[2], mean.quat()[3]);

        for (unsigned int i = 0; i < 7; i++)
                os::fprintf(
                        f, "%e %e %e %e %e %e %e\n", cov_inv(i, 0), cov_inv(i, 1),
                        cov_inv(i, 2), cov_inv(i, 3), cov_inv(i, 4), cov_inv(i, 5),
                        cov_inv(i, 6));

        os::fclose(f);
}

/*---------------------------------------------------------------
                                                changeCoordinatesReference
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::changeCoordinatesReference(
        const CPose3D& newReferenceBase)
{
        MRPT_START
        changeCoordinatesReference(CPose3DQuat(newReferenceBase));
        MRPT_END
}

/*---------------------------------------------------------------
                                                changeCoordinatesReference
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::changeCoordinatesReference(
        const CPose3DQuat& newReferenceBaseQuat)
{
        MRPT_START

        // COV:
        CMatrixDouble77 OLD_COV(UNINITIALIZED_MATRIX);
        this->cov_inv.inv(OLD_COV);

        CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

        CPose3DQuatPDF::jacobiansPoseComposition(
                newReferenceBaseQuat,  // x
                this->mean,  // u
                df_dx, df_du,
                &this->mean  // Output:  newReferenceBaseQuat + this->mean;
                );

        // this->cov = H1*this->cov*~H1 + H2*Ap.cov*~H2;
        // df_dx: not used, since its COV are all zeros... // df_dx.multiply_HCHt(
        // OLD_COV, cov );
        CMatrixDouble77 NEW_COV(UNINITIALIZED_MATRIX);
        df_du.multiply_HCHt(OLD_COV, NEW_COV);
        NEW_COV.inv_fast(this->cov_inv);

        MRPT_END
}

/*---------------------------------------------------------------
                                        drawSingleSample
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::drawSingleSample(CPose3DQuat& outPart) const
{
        MRPT_START
        CMatrixDouble77 COV(UNINITIALIZED_MATRIX);
        this->cov_inv.inv(COV);

        getRandomGenerator().drawGaussianMultivariate(outPart, COV, &mean);
        MRPT_END
}

/*---------------------------------------------------------------
                                        drawManySamples
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::drawManySamples(
        size_t N, vector<CVectorDouble>& outSamples) const
{
        MRPT_START
        CMatrixDouble77 COV(UNINITIALIZED_MATRIX);
        this->cov_inv.inv(COV);

        getRandomGenerator().drawGaussianMultivariateMany(outSamples, N, COV);

        for (vector<CVectorDouble>::iterator it = outSamples.begin();
                 it != outSamples.end(); ++it)
                for (unsigned int k = 0; k < 7; k++) (*it)[k] += mean[k];

        MRPT_END
}

/*---------------------------------------------------------------
                                        inverse
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::inverse(CPose3DQuatPDF& o) const
{
        ASSERT_(o.GetRuntimeClass() == CLASS_ID(CPose3DQuatPDFGaussianInf));
        CPose3DQuatPDFGaussianInf& out = static_cast<CPose3DQuatPDFGaussianInf&>(o);

        // COV:
        CMatrixFixedNumeric<double, 3, 7> df_dpose(UNINITIALIZED_MATRIX);
        double lx, ly, lz;
        mean.inverseComposePoint(0, 0, 0, lx, ly, lz, nullptr, &df_dpose);

        CMatrixFixedNumeric<double, 7, 7> jacob;
        jacob.insertMatrix(0, 0, df_dpose);
        jacob.set_unsafe(3, 3, 1);
        jacob.set_unsafe(4, 4, -1);
        jacob.set_unsafe(5, 5, -1);
        jacob.set_unsafe(6, 6, -1);

        // C(0:2,0:2): H C H^t
        CMatrixDouble77 COV(UNINITIALIZED_MATRIX), NEW_COV(UNINITIALIZED_MATRIX);
        this->cov_inv.inv(COV);

        jacob.multiply_HCHt(COV, NEW_COV);
        NEW_COV.inv_fast(out.cov_inv);

        // Mean:
        out.mean.x(lx);
        out.mean.y(ly);
        out.mean.z(lz);
        this->mean.quat().conj(out.mean.quat());
}

/*---------------------------------------------------------------
                                                        +=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::operator+=(const CPose3DQuat& Ap)
{
        // COV:
        CMatrixDouble77 OLD_COV(UNINITIALIZED_MATRIX);
        this->cov_inv.inv(OLD_COV);

        CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

        CPose3DQuatPDF::jacobiansPoseComposition(
                this->mean,  // x
                Ap,  // u
                df_dx, df_du,
                &this->mean  // Output: this->mean + Ap;
                );

        // this->cov = H1*this->cov*~H1 + H2*Ap.cov*~H2;
        CMatrixDouble77 NEW_COV(UNINITIALIZED_MATRIX);
        df_dx.multiply_HCHt(OLD_COV, NEW_COV);
        NEW_COV.inv_fast(this->cov_inv);
        // df_du: Nothing to do, since COV(Ap) = zeros
}

/*---------------------------------------------------------------
                                                        +=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::operator+=(const CPose3DQuatPDFGaussianInf& Ap)
{
        // COV:
        CMatrixDouble77 OLD_COV(UNINITIALIZED_MATRIX);
        this->cov_inv.inv(OLD_COV);

        CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

        CPose3DQuatPDF::jacobiansPoseComposition(
                this->mean,  // x
                Ap.mean,  // u
                df_dx, df_du,
                &this->mean  // Output:  this->mean + Ap.mean;
                );

        // this->cov = H1*this->cov*~H1 + H2*Ap.cov*~H2;
        CMatrixDouble77 NEW_COV(UNINITIALIZED_MATRIX);
        CMatrixDouble77 Ap_cov(UNINITIALIZED_MATRIX);
        Ap.cov_inv.inv(Ap_cov);

        df_dx.multiply_HCHt(OLD_COV, NEW_COV);
        df_du.multiply_HCHt(Ap_cov, NEW_COV, true);  // Accumulate result

        NEW_COV.inv_fast(this->cov_inv);
}

/*---------------------------------------------------------------
                                                        -=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussianInf::operator-=(const CPose3DQuatPDFGaussianInf& Ap)
{
        // THIS = THIS (-) Ap             -->
        // THIS = inverse(Ap) (+) THIS
        CPose3DQuatPDFGaussianInf inv_Ap = -Ap;
        *this = inv_Ap + *this;
}

/*---------------------------------------------------------------
                                                evaluatePDF
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussianInf::evaluatePDF(const CPose3DQuat& x) const
{
        return mrpt::math::normalPDFInf(
                CMatrixDouble71(x), CMatrixDouble71(this->mean), this->cov_inv);
}

/*---------------------------------------------------------------
                                                evaluateNormalizedPDF
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussianInf::evaluateNormalizedPDF(
        const CPose3DQuat& x) const
{
        return mrpt::math::normalPDFInf(
                CMatrixDouble71(x), CMatrixDouble71(this->mean), this->cov_inv, true);
}

/*---------------------------------------------------------------
                                                operator <<
 ---------------------------------------------------------------*/
ostream& mrpt::poses::operator<<(
        ostream& out, const CPose3DQuatPDFGaussianInf& obj)
{
        out << "Mean: " << obj.mean << "\n";
        out << "Information:\n" << obj.cov_inv << "\n";
        return out;
}

bool mrpt::poses::operator==(
        const CPose3DQuatPDFGaussianInf& p1, const CPose3DQuatPDFGaussianInf& p2)
{
        return p1.mean == p2.mean && p1.cov_inv == p2.cov_inv;
}

/** Pose composition for two 3D pose Gaussians  \sa
 * CPose3DQuatPDFGaussianInf::operator += */
CPose3DQuatPDFGaussianInf mrpt::poses::operator+(
        const CPose3DQuatPDFGaussianInf& x, const CPose3DQuatPDFGaussianInf& u)
{
        CPose3DQuatPDFGaussianInf res(x);
        res += u;
        return res;
}

/** Inverse pose composition for two 3D pose Gaussians  \sa
 * CPose3DQuatPDFGaussianInf::operator -= */
CPose3DQuatPDFGaussianInf mrpt::poses::operator-(
        const CPose3DQuatPDFGaussianInf& x, const CPose3DQuatPDFGaussianInf& u)
{
        CPose3DQuatPDFGaussianInf res(x);
        res -= u;
        return res;
}