class mrpt::poses::CPose3DPDF

Python API: mrpt.poses.CPose3DPDF

Overview

A Probability Density Function (PDF) of a SE(3) pose.

This class is just the base class for unifying many different ways this PDF can be implemented.

For convenience, a pose composition is also defined for any PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.

For a similar class for 3D points (without attitude), see CPointPDF

See also:

CPose3D, CPosePDF, CPointPDF

#include <mrpt/poses/CPose3DPDF.h>

class CPose3DPDF:
    public mrpt::serialization::CSerializable,
    public mrpt::math::CProbabilityDensityFunction,
    public mrpt::Stringifyable
{
public:
    // typedefs

    typedef std::shared_ptr<CPose3DPDF> Ptr;
    typedef std::shared_ptr<const CPose3DPDF> ConstPtr;

    // enums

    enum
    {
        is_3D_val = 1,
    };

    enum
    {
        is_PDF_val = 1,
    };

    // methods

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual void printTo(std::ostream& out) const = 0;
    virtual std::string asString() const;
    virtual void copyFrom(const CPose3DPDF& o) = 0;
    virtual void changeCoordinatesReference(const CPose3D& newReferenceBase) = 0;
    virtual void bayesianFusion(const CPose3DPDF& p1, const CPose3DPDF& p2) = 0;
    virtual void inverse(CPose3DPDF& o) const = 0;

    template <class OPENGL_SETOFOBJECTSPTR>
    void getAs3DObject(OPENGL_SETOFOBJECTSPTR& out_obj) const;

    template <class OPENGL_SETOFOBJECTSPTR>
    OPENGL_SETOFOBJECTSPTR getAs3DObject() const;

    static CPose3DPDF* createFrom2D(const CPosePDF& o);
    static void jacobiansPoseComposition(const CPose3D& x, const CPose3D& u, mrpt::math::CMatrixDouble66& df_dx, mrpt::math::CMatrixDouble66& df_du);
    static constexpr bool is_3D();
    static constexpr bool is_PDF();
};

// direct descendants

class CPose3DPDFGaussian;
class CPose3DPDFGaussianInf;
class CPose3DPDFGrid;
class CPose3DPDFParticles;
class CPose3DPDFSOG;

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef TDATA type_value;
    typedef CProbabilityDensityFunction<TDATA, STATE_LEN> self_t;
    typedef mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN> cov_mat_t;
    typedef cov_mat_t inf_mat_t;

    // fields

    static constexpr size_t state_length = STATE_LEN;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    CProbabilityDensityFunction& operator = (const CProbabilityDensityFunction&);
    CProbabilityDensityFunction& operator = (CProbabilityDensityFunction&&);
    virtual void getMean(type_value& mean_point) const = 0;
    virtual std::tuple<cov_mat_t, type_value> getCovarianceAndMean() const = 0;
    virtual void getCovarianceAndMean(cov_mat_t& c, TDATA& mean) const;
    void getCovarianceDynAndMean(mrpt::math::CMatrixDouble& cov, type_value& mean_point) const;
    type_value getMeanVal() const;
    void getCovariance(mrpt::math::CMatrixDouble& cov) const;
    void getCovariance(cov_mat_t& cov) const;
    cov_mat_t getCovariance() const;
    virtual bool isInfType() const;
    virtual void getInformationMatrix(inf_mat_t& inf) const;
    virtual bool saveToTextFile(const std::string& file) const = 0;
    virtual void drawSingleSample(TDATA& outPart) const = 0;
    virtual void drawManySamples(size_t N, std::vector<mrpt::math::CVectorDouble>& outSamples) const;
    double getCovarianceEntropy() const;
    virtual std::string asString() const = 0;

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual void printTo(std::ostream& out) const = 0

Write a human-readable description of this PDF to the given stream.

Derived classes must override this method.

virtual std::string asString() const

Returns a human-readable string representation of this PDF.

virtual void copyFrom(const CPose3DPDF& o) = 0

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

See also:

createFrom2D

virtual void bayesianFusion(const CPose3DPDF& p1, const CPose3DPDF& p2) = 0

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc)

virtual void inverse(CPose3DPDF& o) const = 0

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

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)

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

By default, ellipsoids for the confidence intervals of “q=3” are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

See also:

mrpt::viz::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

template <class OPENGL_SETOFOBJECTSPTR>
OPENGL_SETOFOBJECTSPTR getAs3DObject() const

Returns a 3D representation of this PDF.

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

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)

It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.

See also:

copyFrom

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.

See this technical 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:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)