MRPT  1.9.9
mrpt::poses::CPosePDFGaussianInf Class Referenceabstract

## Detailed Description

A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the covariance.

This class implements a PDF as a mono-modal Gaussian distribution in its information form, that is, keeping the inverse of the covariance matrix instead of the covariance matrix itself.

This class is the dual of CPosePDFGaussian.

CPose2D, CPosePDF, CPosePDFParticles

Definition at line 34 of file CPosePDFGaussianInf.h.

#include <mrpt/poses/CPosePDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPosePDFGaussianInf:

## Public Types

enum  { is_3D_val = 0 }

enum  { is_PDF_val = 1 }

using type_value = CPose2D
The type of the state the PDF represents. More...

## Public Member Functions

voidoperator new (size_t size)

voidoperator new[] (size_t size)

void operator delete (void *ptr) noexcept

void operator delete[] (void *ptr) noexcept

void operator delete (void *memory, void *ptr) noexcept

voidoperator new (size_t size, const std::nothrow_t &) noexcept

void operator delete (void *ptr, const std::nothrow_t &) noexcept

const CPose2DgetPoseMean () const

CPose2DgetPoseMean ()

CPosePDFGaussianInf ()
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!) More...

CPosePDFGaussianInf (const CPose2D &init_Mean)
Constructor with a mean value (inverse covariance=all zeros -> so be careful!) More...

CPosePDFGaussianInf (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_CovInv)
Constructor. More...

CPosePDFGaussianInf (const CPosePDF &o)
Copy constructor, including transformations between other PDFs. More...

CPosePDFGaussianInf (const CPose3DPDF &o)
Copy constructor, including transformations between other PDFs. More...

void getMean (CPose2D &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...

bool isInfType () const override
Returns whether the class instance holds the uncertainty in covariance or information form. More...

void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const override
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...

virtual void getInformationMatrix (mrpt::math::CMatrixDouble33 &inf) const override
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More...

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

void copyFrom (const CPose3DPDF &o)
Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

bool saveToTextFile (const std::string &file) const override
Save PDF's particles to a text file, containing the 2D 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 changeCoordinatesReference (const CPose2D &newReferenceBase)
this = p (+) this. More...

void rotateCov (const double ang)
Rotate the covariance matrix by replacing it by , where . More...

void inverseComposition (const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &ref)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!). More...

void inverseComposition (const CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &x0, const mrpt::math::CMatrixDouble33 &COV_01)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1). More...

void drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum. More...

void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
Bayesian fusion of two points gauss. More...

void inverse (CPosePDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

void operator+= (const CPose2D &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

double evaluatePDF (const CPose2D &x) const
Evaluates the PDF at a given point. More...

double evaluateNormalizedPDF (const CPose2D &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...

double mahalanobisDistanceTo (const CPosePDFGaussianInf &theOther)
Computes the Mahalanobis distance between the centers of two Gaussians. More...

void operator+= (const CPosePDFGaussianInf &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More...

void operator-= (const CPosePDFGaussianInf &ref)
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) 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 mxArraywriteToMatlab () 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 (CPose2D &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, CPose2D &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, CPose2D &mean_point) const
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose2D 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 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 (CPose2D &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 voidoperator new (size_t size, void *ptr)

static void jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
This static method computes the pose composition Jacobians, with these formulas: More...

static void jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)

static constexpr bool is_3D ()

static constexpr bool is_PDF ()

## Public Attributes

Data fields
CPose2D mean
The mean value. More...

mrpt::math::CMatrixDouble33 cov_inv
The inverse of the 3x3 covariance matrix (the "information" 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 Types

using self_t = CPosePDFGaussianInf

## 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< CPosePDFGaussianInf >

using ConstPtr = std::shared_ptr< const CPosePDFGaussianInf >

using UniquePtr = std::unique_ptr< CPosePDFGaussianInf >

using ConstUniquePtr = std::unique_ptr< const CPosePDFGaussianInf >

static mrpt::rtti::CLASSINIT _init_CPosePDFGaussianInf

static const mrpt::rtti::TRuntimeClassId runtimeClassId

static constexpr const char * className = "CPosePDFGaussianInf"

static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()

static constexpr auto getClassName ()

static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()

static mrpt::rtti::CObjectCreateObject ()

template<typename... Args>
static Ptr Create (Args &&... args)

template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObjectclone () const override
Returns a deep copy (clone) of the object, indepently of its class. More...

## ◆ ConstPtr

 using mrpt::poses::CPosePDFGaussianInf::ConstPtr = std::shared_ptr

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ ConstUniquePtr

 using mrpt::poses::CPosePDFGaussianInf::ConstUniquePtr = std::unique_ptr

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ Ptr

A type for the associated smart pointer

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ self_t

 protected

Definition at line 38 of file CPosePDFGaussianInf.h.

## ◆ type_value

 using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value = CPose2D
inherited

The type of the state the PDF represents.

Definition at line 33 of file CProbabilityDensityFunction.h.

## ◆ UniquePtr

 using mrpt::poses::CPosePDFGaussianInf::UniquePtr = std::unique_ptr< CPosePDFGaussianInf >

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ anonymous enum

 anonymous enum
inherited
Enumerator
is_3D_val

Definition at line 95 of file CPosePDF.h.

## ◆ anonymous enum

 anonymous enum
inherited
Enumerator
is_PDF_val

Definition at line 100 of file CPosePDF.h.

## ◆ CPosePDFGaussianInf() [1/5]

 CPosePDFGaussianInf::CPosePDFGaussianInf ( )

Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!)

Definition at line 36 of file CPosePDFGaussianInf.cpp.

## ◆ CPosePDFGaussianInf() [2/5]

 CPosePDFGaussianInf::CPosePDFGaussianInf ( const CPose2D & init_Mean )
explicit

Constructor with a mean value (inverse covariance=all zeros -> so be careful!)

Definition at line 49 of file CPosePDFGaussianInf.cpp.

## ◆ CPosePDFGaussianInf() [3/5]

 CPosePDFGaussianInf::CPosePDFGaussianInf ( const CPose2D & init_Mean, const mrpt::math::CMatrixDouble33 & init_CovInv )

Constructor.

Definition at line 40 of file CPosePDFGaussianInf.cpp.

## ◆ CPosePDFGaussianInf() [4/5]

 mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf ( const CPosePDF & o )
inlineexplicit

Copy constructor, including transformations between other PDFs.

Definition at line 73 of file CPosePDFGaussianInf.h.

References copyFrom().

## ◆ CPosePDFGaussianInf() [5/5]

 mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf ( const CPose3DPDF & o )
inlineexplicit

Copy constructor, including transformations between other PDFs.

Definition at line 75 of file CPosePDFGaussianInf.h.

References copyFrom().

## ◆ _GetBaseClass()

 static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPosePDFGaussianInf::_GetBaseClass ( )
staticprotected

## ◆ assureSymmetry()

 void CPosePDFGaussianInf::assureSymmetry ( )
protected

Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)

Definition at line 364 of file CPosePDFGaussianInf.cpp.

References cov_inv.

## ◆ bayesianFusion()

 void CPosePDFGaussianInf::bayesianFusion ( const CPosePDF & p1, const CPosePDF & p2, const double minMahalanobisDistToDrop = 0 )
overridevirtual

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

• (x1,S1): Mean and variance of the p1 distribution.
• (x2,S2): Mean and variance of the p2 distribution.
• (x,S): Mean and variance of the resulting distribution.

S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );

Implements mrpt::poses::CPosePDF.

Definition at line 263 of file CPosePDFGaussianInf.cpp.

## ◆ changeCoordinatesReference() [1/2]

 void CPosePDFGaussianInf::changeCoordinatesReference ( const CPose3D & newReferenceBase )
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::CPosePDF.

Definition at line 163 of file CPosePDFGaussianInf.cpp.

Referenced by operator+().

## ◆ changeCoordinatesReference() [2/2]

 void CPosePDFGaussianInf::changeCoordinatesReference ( const CPose2D & newReferenceBase )

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.

Definition at line 178 of file CPosePDFGaussianInf.cpp.

## ◆ clone()

 virtual mrpt::rtti::CObject* mrpt::poses::CPosePDFGaussianInf::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

## ◆ copyFrom() [1/2]

 void CPosePDFGaussianInf::copyFrom ( const CPosePDF & o )
overridevirtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implements mrpt::poses::CPosePDF.

Definition at line 84 of file CPosePDFGaussianInf.cpp.

## ◆ copyFrom() [2/2]

 void CPosePDFGaussianInf::copyFrom ( const CPose3DPDF & o )

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Definition at line 108 of file CPosePDFGaussianInf.cpp.

## ◆ Create()

template<typename... Args>
 static Ptr mrpt::poses::CPosePDFGaussianInf::Create ( Args &&... args )
inlinestatic

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ CreateObject()

 static mrpt::rtti::CObject* mrpt::poses::CPosePDFGaussianInf::CreateObject ( )
static

## ◆ CreateUnique()

template<typename... Args>
 static UniquePtr mrpt::poses::CPosePDFGaussianInf::CreateUnique ( Args &&... args )
inlinestatic

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ drawManySamples()

 void CPosePDFGaussianInf::drawManySamples ( size_t N, std::vector< mrpt::math::CVectorDouble > & outSamples ) const
overridevirtual

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.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 235 of file CPosePDFGaussianInf.cpp.

## ◆ drawSingleSample() [1/2]

 void CPosePDFGaussianInf::drawSingleSample ( CPose2D & outPart ) const
override

Draws a single sample from the distribution.

Definition at line 210 of file CPosePDFGaussianInf.cpp.

## ◆ drawSingleSample() [2/2]

 virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const
pure virtualinherited

Draws a single sample from the distribution.

## ◆ duplicateGetSmartPtr()

 mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
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().

## ◆ evaluateNormalizedPDF()

 double CPosePDFGaussianInf::evaluateNormalizedPDF ( const CPose2D & x ) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

Definition at line 350 of file CPosePDFGaussianInf.cpp.

## ◆ evaluatePDF()

 double CPosePDFGaussianInf::evaluatePDF ( const CPose2D & x ) const

Evaluates the PDF at a given point.

Definition at line 339 of file CPosePDFGaussianInf.cpp.

References cov_inv, mean, and mrpt::math::normalPDF().

## ◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
 void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const
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)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 114 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

## ◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
 OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.

Definition at line 125 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

## ◆ getClassName()

 static constexpr auto mrpt::poses::CPosePDFGaussianInf::getClassName ( )
inlinestatic

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ getCovariance() [1/3]

 void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble & cov ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 78 of file CProbabilityDensityFunction.h.

## ◆ getCovariance() [2/3]

 void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & cov ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 88 of file CProbabilityDensityFunction.h.

## ◆ getCovariance() [3/3]

 mrpt::math::CMatrixFixedNumeric mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

getMean, getInformationMatrix

Definition at line 101 of file CProbabilityDensityFunction.h.

## ◆ getCovarianceAndMean() [1/2]

 virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & cov, CPose2D & mean_point ) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

getMean, getInformationMatrix

## ◆ getCovarianceAndMean() [2/2]

 void mrpt::poses::CPosePDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 & cov, CPose2D & mean_point ) const
inlineoverride

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

getMean

Definition at line 84 of file CPosePDFGaussianInf.h.

References cov_inv, and mean.

## ◆ getCovarianceDynAndMean()

 void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble & cov, CPose2D & mean_point ) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

getMean, getInformationMatrix

Definition at line 54 of file CProbabilityDensityFunction.h.

## ◆ getCovarianceEntropy()

 double mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 168 of file CProbabilityDensityFunction.h.

## ◆ getInformationMatrix() [1/2]

 virtual void mrpt::poses::CPosePDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble33 & inf ) const
inlineoverridevirtual

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)

getMean, getCovarianceAndMean

Definition at line 93 of file CPosePDFGaussianInf.h.

References cov_inv.

## ◆ getInformationMatrix() [2/2]

 virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & inf ) const
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.

getMean, getCovarianceAndMean

Definition at line 124 of file CProbabilityDensityFunction.h.

## ◆ getMean() [1/2]

 virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D & mean_point ) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

getCovarianceAndMean, getInformationMatrix

## ◆ getMean() [2/2]

 void mrpt::poses::CPosePDFGaussianInf::getMean ( CPose2D & mean_pose ) const
inlineoverride

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

getCovariance

Definition at line 79 of file CPosePDFGaussianInf.h.

References mean.

## ◆ getMeanVal()

 CPose2D mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

getCovariance, getInformationMatrix

Definition at line 67 of file CProbabilityDensityFunction.h.

## ◆ getPoseMean() [1/2]

 const CPose2D& mrpt::poses::CPosePDFGaussianInf::getPoseMean ( ) const
inline

Definition at line 57 of file CPosePDFGaussianInf.h.

References mean.

## ◆ getPoseMean() [2/2]

 CPose2D& mrpt::poses::CPosePDFGaussianInf::getPoseMean ( )
inline

Definition at line 58 of file CPosePDFGaussianInf.h.

References mean.

## ◆ GetRuntimeClass()

 virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPosePDFGaussianInf::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

## ◆ GetRuntimeClassIdStatic()

 static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPosePDFGaussianInf::GetRuntimeClassIdStatic ( )
static

## ◆ inverse()

 void CPosePDFGaussianInf::inverse ( CPosePDF & o ) const
overridevirtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPosePDF.

Definition at line 303 of file CPosePDFGaussianInf.cpp.

## ◆ inverseComposition() [1/2]

 void CPosePDFGaussianInf::inverseComposition ( const CPosePDFGaussianInf & x, const CPosePDFGaussianInf & ref )

Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!).

Definition at line 433 of file CPosePDFGaussianInf.cpp.

Referenced by operator-=().

## ◆ inverseComposition() [2/2]

 void CPosePDFGaussianInf::inverseComposition ( const CPosePDFGaussianInf & x1, const CPosePDFGaussianInf & x0, const mrpt::math::CMatrixDouble33 & COV_01 )

Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1).

Definition at line 458 of file CPosePDFGaussianInf.cpp.

## ◆ is_3D()

 static constexpr bool mrpt::poses::CPosePDF::is_3D ( )
inlinestaticinherited

Definition at line 99 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

## ◆ is_PDF()

 static constexpr bool mrpt::poses::CPosePDF::is_PDF ( )
inlinestaticinherited

Definition at line 104 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

## ◆ isInfType()

 bool mrpt::poses::CPosePDFGaussianInf::isInfType ( ) const
inlineoverridevirtual

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
mrpt::traits::is_inf_type

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 80 of file CPosePDFGaussianInf.h.

## ◆ jacobiansPoseComposition() [1/2]

 void CPosePDF::jacobiansPoseComposition ( const CPose2D & x, const CPose2D & u, mrpt::math::CMatrixDouble33 & df_dx, mrpt::math::CMatrixDouble33 & df_du, const bool compute_df_dx = true, const bool compute_df_du = true )
staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]

Definition at line 32 of file CPosePDF.cpp.

## ◆ jacobiansPoseComposition() [2/2]

 void CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian & x, const CPosePDFGaussian & u, mrpt::math::CMatrixDouble33 & df_dx, mrpt::math::CMatrixDouble33 & df_du )
staticinherited

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 22 of file CPosePDF.cpp.

## ◆ mahalanobisDistanceTo()

 double CPosePDFGaussianInf::mahalanobisDistanceTo ( const CPosePDFGaussianInf & theOther )

Computes the Mahalanobis distance between the centers of two Gaussians.

Definition at line 376 of file CPosePDFGaussianInf.cpp.

## ◆ operator delete() [1/3]

 void mrpt::poses::CPosePDFGaussianInf::operator delete ( void * ptr, const std::nothrow_t & )
inlinenoexcept

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator delete() [2/3]

 void mrpt::poses::CPosePDFGaussianInf::operator delete ( void * ptr )
inlinenoexcept

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator delete() [3/3]

 void mrpt::poses::CPosePDFGaussianInf::operator delete ( void * memory, void * ptr )
inlinenoexcept

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator delete[]()

 void mrpt::poses::CPosePDFGaussianInf::operator delete[] ( void * ptr )
inlinenoexcept

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator new() [1/3]

 static void* mrpt::poses::CPosePDFGaussianInf::operator new ( size_t size, void * ptr )
inlinestatic

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator new() [2/3]

 void* mrpt::poses::CPosePDFGaussianInf::operator new ( size_t size, const std::nothrow_t & )
inlinenoexcept

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator new() [3/3]

 void* mrpt::poses::CPosePDFGaussianInf::operator new ( size_t size )
inline

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator new[]()

 void* mrpt::poses::CPosePDFGaussianInf::operator new[] ( size_t size )
inline

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ operator+=() [1/2]

 void CPosePDFGaussianInf::operator+= ( const CPose2D & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

Definition at line 330 of file CPosePDFGaussianInf.cpp.

References mean, and rotateCov().

## ◆ operator+=() [2/2]

 void CPosePDFGaussianInf::operator+= ( const CPosePDFGaussianInf & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).

Definition at line 481 of file CPosePDFGaussianInf.cpp.

## ◆ operator-=()

 void mrpt::poses::CPosePDFGaussianInf::operator-= ( const CPosePDFGaussianInf & ref )
inline

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)

Definition at line 190 of file CPosePDFGaussianInf.h.

References inverseComposition().

## ◆ rotateCov()

 void CPosePDFGaussianInf::rotateCov ( const double ang )

Rotate the covariance matrix by replacing it by , where .

Definition at line 190 of file CPosePDFGaussianInf.cpp.

References cov_inv, and MRPT_MAX_ALIGN_BYTES.

Referenced by changeCoordinatesReference(), and operator+=().

## ◆ saveToTextFile()

 bool CPosePDFGaussianInf::saveToTextFile ( const std::string & file ) const
overridevirtual

Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.

Definition at line 145 of file CPosePDFGaussianInf.cpp.

## ◆ serializeFrom()

 void CPosePDFGaussianInf::serializeFrom ( mrpt::serialization::CArchive & in, uint8_t serial_version )
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
 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.
Exceptions
 std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 61 of file CPosePDFGaussianInf.cpp.

References cov_inv, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

## ◆ serializeGetVersion()

 uint8_t CPosePDFGaussianInf::serializeGetVersion ( ) const
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 54 of file CPosePDFGaussianInf.cpp.

## ◆ serializeTo()

 void CPosePDFGaussianInf::serializeTo ( mrpt::serialization::CArchive & out ) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
 std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 55 of file CPosePDFGaussianInf.cpp.

## ◆ writeToMatlab()

 virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
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.

Returns
A new 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.

## ◆ _init_CPosePDFGaussianInf

 mrpt::rtti::CLASSINIT mrpt::poses::CPosePDFGaussianInf::_init_CPosePDFGaussianInf
staticprotected

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ className

 constexpr const char* mrpt::poses::CPosePDFGaussianInf::className = "CPosePDFGaussianInf"
static

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ cov_inv

 mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussianInf::cov_inv

The inverse of the 3x3 covariance matrix (the "information" matrix)

Definition at line 53 of file CPosePDFGaussianInf.h.

## ◆ mean

 CPose2D mrpt::poses::CPosePDFGaussianInf::mean

## ◆ runtimeClassId

 const mrpt::rtti::TRuntimeClassId mrpt::poses::CPosePDFGaussianInf::runtimeClassId
staticprotected

Definition at line 37 of file CPosePDFGaussianInf.h.

## ◆ state_length

 constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::state_length
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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