CPosePDFGrid.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#ifndef CPosePDFGrid_H
#define CPosePDFGrid_H

#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPose2DGridTemplate.h>
#include <mrpt/core/bits_math.h>  // DEG2RAD()

namespace mrpt::poses
{
/** 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.
 *
 * \sa CPose2D, CPosePDF, CPose2DGridTemplate
 * \ingroup poses_pdf_grp
 */
class CPosePDFGrid : public CPosePDF, public CPose2DGridTemplate<double>
{
    DEFINE_SERIALIZABLE(CPosePDFGrid)

   protected:
   public:
    /** Constructor: Initializes a, uniform distribution over the whole given
     * range.
      */
    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);

    /** Destructor */
    virtual ~CPosePDFGrid();

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

    /** Normalizes the PDF, such as all cells sum the unity. */
    void normalize();
    /** Assigns the same value to all the cells in the grid, so the sum 1. */
    void uniformDistribution();
    /** Returns an estimate of the pose, (the mean, or mathematical expectation
     * of the PDF). \sa getCovariance */
    void getMean(CPose2D& mean_pose) const override;
    /** Returns an estimate of the pose covariance matrix (3x3 cov matrix) and
     * the mean, both at once. \sa getMean */
    void getCovarianceAndMean(
        mrpt::math::CMatrixDouble33& cov, CPose2D& mean_point) 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". \return false on error */
    bool saveToTextFile(const std::string& dataFile) const override;

    /** 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. */
    void changeCoordinatesReference(const CPose3D& newReferenceBase) override;
    /** Bayesian fusion of 2 densities (In the grid representation this becomes
     * a pointwise multiplication) */
    void bayesianFusion(
        const CPosePDF& p1, const CPosePDF& p2,
        const double minMahalanobisDistToDrop = 0) override;
    /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
    void inverse(CPosePDF& o) const override;
    /** Draws a single sample from the distribution (WARNING: weights are
     * assumed to be normalized!) */
    void drawSingleSample(CPose2D& outPart) 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. */
    void drawManySamples(
        size_t N,
        std::vector<mrpt::math::CVectorDouble>& outSamples) const override;

};  // End of class def.
}
#endif