MRPT
1.9.9
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Declares a class that represents a Probability Density function (PDF) of a 3D pose .
This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.
Uncertainty of pose composition operations ( ) is implemented in the method "CPose3DPDFGaussian::operator+=".
For further details on implemented methods and the theory behind them, see this report.
Definition at line 40 of file CPose3DPDFGaussian.h.
#include <mrpt/poses/CPose3DPDFGaussian.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
using | type_value = CPose3D |
The type of the state the PDF represents. More... | |
using | self_t = CProbabilityDensityFunction< CPose3D, STATE_LEN > |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CPose3DPDFGaussian () | |
Default constructor. More... | |
CPose3DPDFGaussian (const CPose3D &init_Mean) | |
Constructor. More... | |
CPose3DPDFGaussian (TConstructorFlags_Poses constructor_dummy_param) | |
Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More... | |
CPose3DPDFGaussian (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_Cov) | |
Constructor. More... | |
CPose3DPDFGaussian (const CPosePDFGaussian &o) | |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). More... | |
CPose3DPDFGaussian (const CPose3DQuatPDFGaussian &o) | |
Constructor from a 6D pose PDF described as a Quaternion. More... | |
const CPose3D & | getPoseMean () const |
CPose3D & | getPoseMean () |
void | getMean (CPose3D &mean_pose) const override |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble66 &out_cov, CPose3D &mean_point) const override |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More... | |
void | asString (std::string &s) const |
std::string | asString () const |
void | copyFrom (const CPose3DPDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | copyFrom (const CPosePDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | copyFrom (const CPose3DQuatPDFGaussian &o) |
Copy from a 6D pose PDF described as a Quaternion. More... | |
bool | saveToTextFile (const std::string &file) const override |
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | drawSingleSample (CPose3D &outPart) const override |
Draws a single sample from the distribution. 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 1x6 vectors, where each row contains a (x,y,phi) datum. More... | |
void | bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override |
Bayesian fusion of two points gauss. More... | |
void | inverse (CPose3DPDF &o) const override |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
CPose3DPDFGaussian | operator- () const |
Unary - operator, returns the PDF of the inverse pose. More... | |
void | operator+= (const CPose3D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
void | operator+= (const CPose3DPDFGaussian &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
void | operator-= (const CPose3DPDFGaussian &Ap) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const CPose3D &x) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const CPose3D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More... | |
double | mahalanobisDistanceTo (const CPose3DPDFGaussian &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. More... | |
void | getCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const |
Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. 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 (CPose3D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose3D &mean_point) const=0 |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose3D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPose3D | 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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | 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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &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 (CPose3D &outPart) const=0 |
Draws a single sample from the distribution. 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 |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static CPose3DPDF * | createFrom2D (const CPosePDF &o) |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) More... | |
static void | jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du) |
This static method computes the pose composition Jacobians. More... | |
static constexpr bool | is_3D () |
static constexpr bool | is_PDF () |
Public Attributes | |
CPose3D | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble66 | cov |
The 6x6 covariance matrix. More... | |
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 | assureSymmetry () |
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... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPose3DPDFGaussian > |
using | ConstPtr = std::shared_ptr< const CPose3DPDFGaussian > |
using | UniquePtr = std::unique_ptr< CPose3DPDFGaussian > |
using | ConstUniquePtr = std::unique_ptr< const CPose3DPDFGaussian > |
static mrpt::rtti::CLASSINIT | _init_CPose3DPDFGaussian |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPose3DPDFGaussian" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::rtti::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (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... | |
Definition at line 42 of file CPose3DPDFGaussian.h.
using mrpt::poses::CPose3DPDFGaussian::ConstUniquePtr = std::unique_ptr<const CPose3DPDFGaussian > |
Definition at line 42 of file CPose3DPDFGaussian.h.
A type for the associated smart pointer
Definition at line 42 of file CPose3DPDFGaussian.h.
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inherited |
Definition at line 34 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 33 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPose3DPDFGaussian::UniquePtr = std::unique_ptr< CPose3DPDFGaussian > |
Definition at line 42 of file CPose3DPDFGaussian.h.
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Enumerator | |
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is_3D_val |
Definition at line 102 of file CPose3DPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 107 of file CPose3DPDF.h.
CPose3DPDFGaussian::CPose3DPDFGaussian | ( | ) |
Default constructor.
Definition at line 48 of file CPose3DPDFGaussian.cpp.
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explicit |
Constructor.
Definition at line 88 of file CPose3DPDFGaussian.cpp.
CPose3DPDFGaussian::CPose3DPDFGaussian | ( | TConstructorFlags_Poses | constructor_dummy_param | ) |
Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.
Definition at line 52 of file CPose3DPDFGaussian.cpp.
References MRPT_UNUSED_PARAM.
CPose3DPDFGaussian::CPose3DPDFGaussian | ( | const CPose3D & | init_Mean, |
const mrpt::math::CMatrixDouble66 & | init_Cov | ||
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Constructor.
Definition at line 62 of file CPose3DPDFGaussian.cpp.
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explicit |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).
Definition at line 71 of file CPose3DPDFGaussian.cpp.
References mrpt::poses::CPosePDFGaussian::cov, and cov.
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explicit |
Constructor from a 6D pose PDF described as a Quaternion.
Definition at line 121 of file CPose3DPDFGaussian.cpp.
References copyFrom().
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staticprotected |
void CPose3DPDFGaussian::asString | ( | std::string & | s | ) | const |
Definition at line 130 of file CPose3DPDFGaussian.cpp.
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inline |
Definition at line 105 of file CPose3DPDFGaussian.h.
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protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 556 of file CPose3DPDFGaussian.cpp.
References cov.
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overridevirtual |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPose3DPDF.
Definition at line 372 of file CPose3DPDFGaussian.cpp.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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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::CPose3DPDF.
Definition at line 303 of file CPose3DPDFGaussian.cpp.
References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, and mrpt::math::UNINITIALIZED_MATRIX.
Referenced by mrpt::topography::path_from_rtk_gps(), and Pose3DPDFGaussTests::testChangeCoordsRef().
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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::CPose3DPDF.
Definition at line 251 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), CPose3DPDFGaussian(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::obs::CActionCollection::getFirstMovementEstimation(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), operator+=(), and operator-=().
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Definition at line 259 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.
void CPose3DPDFGaussian::copyFrom | ( | const CPose3DQuatPDFGaussian & | o | ) |
Copy from a 6D pose PDF described as a Quaternion.
Definition at line 140 of file CPose3DPDFGaussian.cpp.
References aux_posequat2poseypr(), mrpt::poses::CPose3DQuatPDFGaussian::cov, cov, mean, mrpt::poses::CPose3DQuatPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::poses::CPose3D::setFromValues(), mrpt::math::transform_gaussian_unscented(), mrpt::math::UNINITIALIZED_MATRIX, USE_SUT_QUAT2EULER_CONVERSION_value, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
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inlinestatic |
Definition at line 42 of file CPose3DPDFGaussian.h.
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staticinherited |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)
Definition at line 34 of file CPose3DPDF.cpp.
References mrpt::poses::CPose3DPDFSOG::begin(), CLASS_ID, cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().
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Definition at line 42 of file CPose3DPDFGaussian.h.
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Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.
Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 348 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes().
Draws a single sample from the distribution.
Definition at line 330 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().
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pure virtualinherited |
Draws a single sample from the distribution.
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inlineinherited |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Definition at line 168 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
double CPose3DPDFGaussian::evaluateNormalizedPDF | ( | const CPose3D & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
Definition at line 534 of file CPose3DPDFGaussian.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
double CPose3DPDFGaussian::evaluatePDF | ( | const CPose3D & | x | ) | const |
Evaluates the PDF at a given point.
Definition at line 512 of file CPose3DPDFGaussian.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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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 123 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 134 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlinestatic |
Definition at line 42 of file CPose3DPDFGaussian.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 78 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 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 101 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
Definition at line 96 of file CPose3DPDFGaussian.h.
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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 54 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 168 of file CProbabilityDensityFunction.h.
void CPose3DPDFGaussian::getCovSubmatrix2D | ( | mrpt::math::CMatrixDouble & | out_cov | ) | const |
Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.
Definition at line 608 of file CPose3DPDFGaussian.cpp.
References cov.
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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 124 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 91 of file CPose3DPDFGaussian.h.
References mean.
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 67 of file CProbabilityDensityFunction.h.
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inline |
Definition at line 85 of file CPose3DPDFGaussian.h.
References mean.
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inline |
Definition at line 86 of file CPose3DPDFGaussian.h.
References mean.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DPDF.
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static |
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Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DPDF.
Definition at line 416 of file CPose3DPDFGaussian.cpp.
References ASSERT_, CLASS_ID, and mrpt::poses::CPose3DPDF::GetRuntimeClass().
Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), operator-(), and Pose3DPDFGaussTests::testPoseInverse().
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inlinestaticinherited |
Definition at line 106 of file CPose3DPDF.h.
References mrpt::poses::CPose3DPDF::is_3D_val.
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inlinestaticinherited |
Definition at line 111 of file CPose3DPDF.h.
References mrpt::poses::CPose3DPDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.
Definition at line 117 of file CProbabilityDensityFunction.h.
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staticinherited |
This static method computes the pose composition Jacobians.
See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty
Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:
Definition at line 141 of file CPose3DPDF.cpp.
References mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.
Referenced by changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().
double CPose3DPDFGaussian::mahalanobisDistanceTo | ( | const CPose3DPDFGaussian & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.
Definition at line 568 of file CPose3DPDFGaussian.cpp.
References cov, mean, MRPT_END, and MRPT_START.
Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().
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inlinenoexcept |
Definition at line 42 of file CPose3DPDFGaussian.h.
Definition at line 42 of file CPose3DPDFGaussian.h.
Definition at line 42 of file CPose3DPDFGaussian.h.
Definition at line 42 of file CPose3DPDFGaussian.h.
Definition at line 42 of file CPose3DPDFGaussian.h.
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Definition at line 42 of file CPose3DPDFGaussian.h.
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Definition at line 42 of file CPose3DPDFGaussian.h.
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Definition at line 42 of file CPose3DPDFGaussian.h.
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 432 of file CPose3DPDFGaussian.cpp.
References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.
void CPose3DPDFGaussian::operator+= | ( | const CPose3DPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 454 of file CPose3DPDFGaussian.cpp.
References copyFrom().
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inline |
Unary - operator, returns the PDF of the inverse pose.
Definition at line 166 of file CPose3DPDFGaussian.h.
References inverse(), and mrpt::poses::UNINITIALIZED_POSE.
void CPose3DPDFGaussian::operator-= | ( | const CPose3DPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
Definition at line 483 of file CPose3DPDFGaussian.cpp.
References copyFrom().
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overridevirtual |
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 282 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
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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 235 of file CPose3DPDFGaussian.cpp.
References cov, mrpt::math::deserializeSymmetricMatrixFrom(), mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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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 229 of file CPose3DPDFGaussian.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 230 of file CPose3DPDFGaussian.cpp.
References cov, mean, and mrpt::math::serializeSymmetricMatrixTo().
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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 68 of file CSerializable.h.
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staticprotected |
Definition at line 42 of file CPose3DPDFGaussian.h.
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static |
Definition at line 42 of file CPose3DPDFGaussian.h.
mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussian::cov |
The 6x6 covariance matrix.
Definition at line 83 of file CPose3DPDFGaussian.h.
Referenced by assureSymmetry(), changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), CPose3DPDFGaussian(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), getCovarianceAndMean(), getCovSubmatrix2D(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), saveToTextFile(), serializeFrom(), serializeTo(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().
CPose3D mrpt::poses::CPose3DPDFGaussian::mean |
The mean value.
Definition at line 79 of file CPose3DPDFGaussian.h.
Referenced by mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), getCovarianceAndMean(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), getMean(), getPoseMean(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), mrpt::poses::CPose3DPDFGaussianInf::operator-=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), saveToTextFile(), serializeFrom(), serializeTo(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().
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staticprotected |
Definition at line 42 of file CPose3DPDFGaussian.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 31 of file CProbabilityDensityFunction.h.
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