MRPT  1.9.9
CPose3DQuatPDFGaussianInf.h
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2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/math/CMatrixD.h>
12 #include <mrpt/poses/CPose3DPDF.h>
14 #include <mrpt/poses/CPosePDF.h>
15 
16 namespace mrpt::poses
17 {
18 class CPosePDFGaussian;
19 class CPose3DPDFGaussian;
20 
21 /** Declares a class that represents a Probability Density function (PDF) of a
22  * 3D pose using a quaternion \f$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~
23  * qz]^\top \f$.
24  *
25  * This class implements that PDF using a mono-modal Gaussian distribution
26  * storing the information matrix instead of its inverse, the covariance matrix.
27  * See mrpt::poses::CPose3DQuatPDF for more details, or
28  * mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
29  *
30  * Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is
31  * implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and
32  * "CPose3DQuatPDF::jacobiansPoseComposition".
33  *
34  * For further details on implemented methods and the theory behind them,
35  * see <a
36  * href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty"
37  * >this report</a>.
38  *
39  * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian
40  * \ingroup poses_pdf_grp
41  */
43 {
44  // This must be added to any CSerializable derived class:
47 
48  public:
49  /** Default constructor - set all values to zero. */
51 
52  /** Constructor which left all the member uninitialized, for using when
53  * speed is critical - as argument, use UNINITIALIZED_QUATERNION. */
55  mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param);
56 
57  /** Constructor from a default mean value, information matrix equals to
58  * zero. */
59  explicit CPose3DQuatPDFGaussianInf(const CPose3DQuat& init_Mean);
60 
61  /** Constructor with mean and inverse covariance (information matrix). */
63  const CPose3DQuat& init_Mean,
64  const mrpt::math::CMatrixDouble77& init_CovInv);
65 
66  /** The mean value */
68  /** The 7x7 information matrix (the inverse of the covariance) */
70 
71  inline const CPose3DQuat& getPoseMean() const { return mean; }
72  inline CPose3DQuat& getPoseMean() { return mean; }
73 
74  void getMean(CPose3DQuat& mean_pose) const override { mean_pose = mean; }
75  bool isInfType() const override { return true; }
76 
77  std::tuple<cov_mat_t, type_value> getCovarianceAndMean() const override
78  {
79  return {cov_inv.inverse_LLt(), mean};
80  }
81 
82  /** Returns the information (inverse covariance) matrix (a STATE_LEN x
83  * STATE_LEN matrix) \sa getMean, getCovarianceAndMean */
85  {
86  inf = cov_inv;
87  }
88 
89  /** Copy operator, translating if necesary (for example, between particles
90  * and gaussian representations) */
91  void copyFrom(const CPose3DQuatPDF& o) override;
92 
93  /** Save the PDF to a text file, containing the 3D pose in the first line (x
94  * y z qr qx qy qz), then the information matrix in the next 7 lines. */
95  bool saveToTextFile(const std::string& file) const override;
96 
97  /** this = p (+) this. This can be used to convert a PDF from local
98  * coordinates to global, providing the point (newReferenceBase) from which
99  * "to project" the current pdf. Result PDF substituted the currently
100  * stored one in the object. */
101  void changeCoordinatesReference(const CPose3DQuat& newReferenceBase);
102 
103  /** this = p (+) this. This can be used to convert a PDF from local
104  * coordinates to global, providing the point (newReferenceBase) from which
105  * "to project" the current pdf. Result PDF substituted the currently
106  * stored one in the object. */
107  void changeCoordinatesReference(const CPose3D& newReferenceBase) override;
108 
109  /** Draws a single sample from the distribution */
110  void drawSingleSample(CPose3DQuat& outPart) const override;
111  /** Draws a number of samples from the distribution, and saves as a list of
112  * 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum */
113  void drawManySamples(
114  size_t N,
115  std::vector<mrpt::math::CVectorDouble>& outSamples) const override;
116  /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
117  void inverse(CPose3DQuatPDF& o) const override;
118 
119  /** Unary - operator, returns the PDF of the inverse pose. */
121  {
123  this->inverse(p);
124  return p;
125  }
126 
127  /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the
128  * mean, and the covariance matrix are updated). */
129  void operator+=(const CPose3DQuat& Ap);
130  /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the
131  * mean, and the covariance matrix are updated) (see formulas in
132  * jacobiansPoseComposition ). */
133  void operator+=(const CPose3DQuatPDFGaussianInf& Ap);
134  /** Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition
135  * (both the mean, and the covariance matrix are updated). */
136  void operator-=(const CPose3DQuatPDFGaussianInf& Ap);
137 
138  /** Evaluates the PDF at a given point */
139  double evaluatePDF(const CPose3DQuat& x) const;
140  /** Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in
141  * the range [0,1] */
142  double evaluateNormalizedPDF(const CPose3DQuat& x) const;
143 
144 }; // End of class def.
145 
146 bool operator==(
147  const CPose3DQuatPDFGaussianInf& p1, const CPose3DQuatPDFGaussianInf& p2);
148 /** Pose composition for two 3D pose Gaussians \sa
149  * CPose3DQuatPDFGaussianInf::operator += */
150 CPose3DQuatPDFGaussianInf operator+(
151  const CPose3DQuatPDFGaussianInf& x, const CPose3DQuatPDFGaussianInf& u);
152 /** Inverse pose composition for two 3D pose Gaussians \sa
153  * CPose3DQuatPDFGaussianInf::operator -= */
154 CPose3DQuatPDFGaussianInf operator-(
155  const CPose3DQuatPDFGaussianInf& x, const CPose3DQuatPDFGaussianInf& u);
156 
157 /** Dumps the mean and covariance matrix to a text stream. */
158 std::ostream& operator<<(
159  std::ostream& out, const CPose3DQuatPDFGaussianInf& obj);
160 
161 } // namespace mrpt::poses
void inverse(CPose3DQuatPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
A compile-time fixed-size numeric matrix container.
Definition: CMatrixFixed.h:33
TConstructorFlags_Quaternions
Definition: CQuaternion.h:20
mrpt::math::TPoint2D operator+(const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
Compose a 2D point from a new coordinate base given by a 2D pose.
Definition: CPose2D.cpp:394
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
void copyFrom(const CPose3DQuatPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations) ...
std::ostream & operator<<(std::ostream &o, const CPoint2D &p)
Dumps a point as a string (x,y)
Definition: CPoint2D.cpp:102
CPose3DQuatPDFGaussianInf operator-() const
Unary - operator, returns the PDF of the inverse pose.
GLsizei GLsizei GLuint * obj
Definition: glext.h:4085
CMatrixFixed< double, 7, 7 > CMatrixDouble77
Definition: CMatrixFixed.h:355
double evaluateNormalizedPDF(const CPose3DQuat &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
void operator+=(const CPose3DQuat &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matri...
mrpt::math::CMatrixDouble77 cov_inv
The 7x7 information matrix (the inverse of the covariance)
void changeCoordinatesReference(const CPose3DQuat &newReferenceBase)
this = p (+) this.
void getInformationMatrix(mrpt::math::CMatrixDouble77 &inf) const override
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) ...
CPose2D operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
Definition: CPose2D.cpp:356
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
Definition: CPose3DQuat.h:45
Derived inverse_LLt() const
Returns the inverse of a symmetric matrix using LLt.
bool saveToTextFile(const std::string &file) const override
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz)...
double evaluatePDF(const CPose3DQuat &x) const
Evaluates the PDF at a given point.
GLsizei const GLchar ** string
Definition: glext.h:4116
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.
bool isInfType() const override
Returns whether the class instance holds the uncertainty in covariance or information form...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
bool operator==(const CPoint< DERIVEDCLASS, DIM > &p1, const CPoint< DERIVEDCLASS, DIM > &p2)
Definition: CPoint.h:119
void operator-=(const CPose3DQuatPDFGaussianInf &Ap)
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
void drawSingleSample(CPose3DQuat &outPart) const override
Draws a single sample from the distribution.
GLenum GLint x
Definition: glext.h:3542
void getMean(CPose3DQuat &mean_pose) const override
GLfloat GLfloat p
Definition: glext.h:6398
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...



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