Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.

Uncertainty of pose composition operations ( $y = x \oplus u$ ) is implemented in the method "CPose3DPDFGaussian::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also: CPose3D, CPose3DPDF, CPose3DPDFParticles

Definition at line 37 of file CPose3DPDFGaussian.h.

#include <mrpt/poses/CPose3DPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussian:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

typedef CPose3D	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPose3D, STATE_LEN >	self_t

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

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

	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 MRPT_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 MRPT_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) MRPT_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...

void	saveToTextFile (const std::string &file) const MRPT_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) MRPT_OVERRIDE
	this = p (+) this. More...

void	drawSingleSample (CPose3D &outPart) const MRPT_OVERRIDE
	Draws a single sample from the distribution. More...

void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_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) MRPT_OVERRIDE
	Bayesian fusion of two points gauss. More...

void	inverse (CPose3DPDF &o) const MRPT_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...

CObject *	clone () const
	Cloning interface for smart pointers. 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
mrpt::utils::CObjectPtr	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) It returns a new object of any of the derived classes of CPose3DPDF. 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 bool	is_3D ()

static bool	is_PDF ()

Public Attributes
CPose3D	mean
	The mean value. More...

mrpt::math::CMatrixDouble66	cov
	The 6x6 covariance matrix. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

static const 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...

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPose3DPDF

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

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
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
typedef CPose3DPDFGaussianPtr	Ptr

typedef CPose3DPDFGaussianPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CPose3DPDFGaussian

static mrpt::utils::TRuntimeClassId	classCPose3DPDFGaussian

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CPose3DPDFGaussianPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::ConstPtr

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ Ptr

typedef CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::Ptr

A typedef for the associated smart pointer

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ self_t

typedef CProbabilityDensityFunction<CPose3D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t

inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value

inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 91 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( )

Default constructor.

Definition at line 40 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [2/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3D & init_Mean )

explicit

Constructor.

Definition at line 82 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [3/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( TConstructorFlags_Poses constructor_dummy_param )

Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.

Definition at line 47 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM.

◆ CPose3DPDFGaussian() [4/6]

CPose3DPDFGaussian::CPose3DPDFGaussian	(	const CPose3D &	init_Mean,
		const mrpt::math::CMatrixDouble66 &	init_Cov
	)

Constructor.

Definition at line 55 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [5/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPosePDFGaussian & o )

explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).

Definition at line 63 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::cov, and cov.

◆ CPose3DPDFGaussian() [6/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3DQuatPDFGaussian & o )

explicit

Constructor from a 6D pose PDF described as a Quaternion.

Definition at line 112 of file CPose3DPDFGaussian.cpp.

References copyFrom().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::_GetBaseClass ( )

staticprotected

◆ asString() [1/2]

void CPose3DPDFGaussian::asString ( std::string & s ) const

Definition at line 121 of file CPose3DPDFGaussian.cpp.

◆ asString() [2/2]

std::string mrpt::poses::CPose3DPDFGaussian::asString ( ) const

inline

Definition at line 98 of file CPose3DPDFGaussian.h.

References asString().

Referenced by asString().

◆ assureSymmetry()

void CPose3DPDFGaussian::assureSymmetry ( )

protected

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

Definition at line 590 of file CPose3DPDFGaussian.cpp.

References cov.

◆ bayesianFusion()

void CPose3DPDFGaussian::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

virtual

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::CPose3DPDF.

Definition at line 407 of file CPose3DPDFGaussian.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFGaussian::changeCoordinatesReference ( const CPose3D & newReferenceBase )

virtual

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::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 332 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().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ copyFrom() [1/3]

void CPose3DPDFGaussian::copyFrom ( const CPose3DPDF & o )

virtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 281 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::utils::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+=(), operator-=(), and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::updateState().

◆ copyFrom() [2/3]

void CPose3DPDFGaussian::copyFrom ( const CPosePDF & o )

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

Definition at line 289 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

◆ copyFrom() [3/3]

void CPose3DPDFGaussian::copyFrom ( const CPose3DQuatPDFGaussian & o )

◆ Create()

static CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::Create ( )

static

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF & o )

staticinherited

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

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 >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::CreateObject ( )

static

◆ drawManySamples()

void CPose3DPDFGaussian::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

virtual

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::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 382 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::random::randomGenerator, 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().

◆ drawSingleSample() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void CPose3DPDFGaussian::drawSingleSample ( CPose3D & outPart ) const

Draws a single sample from the distribution.

Definition at line 359 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::random::randomGenerator, 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().

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ evaluateNormalizedPDF()

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 569 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ evaluatePDF()

double CPose3DPDFGaussian::evaluatePDF ( const CPose3D & x ) const

Evaluates the PDF at a given point.

Definition at line 547 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::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::CSetOfObjectsPtr 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::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 102 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject ( ) const

inlineinherited

Returns a 3D representation of this PDF.

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

Definition at line 111 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble & cov ) const

inlineinherited

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

See also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 68 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3D , 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)

See also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( ) const

inlineinherited

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

See also: getMean, getInformationMatrix

Definition at line 86 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose3D &	mean_point
	)		const

pure virtualinherited

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

See also: getMean, getInformationMatrix

◆ getCovarianceAndMean() [2/2]

void mrpt::poses::CPose3DPDFGaussian::getCovarianceAndMean	(	mrpt::math::CMatrixDouble66 &	out_cov,
		CPose3D &	mean_point
	)		const

inline

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 92 of file CPose3DPDFGaussian.h.

References mrpt::math::cov(), and mean().

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPose3D &	mean_point
	)		const

inlineinherited

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

See also: getMean, getInformationMatrix

Definition at line 48 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceEntropy ( ) const

inlineinherited

Compute the entropy of the estimated covariance matrix.

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

Definition at line 144 of file CProbabilityDensityFunction.h.

◆ getCovSubmatrix2D()

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 640 of file CPose3DPDFGaussian.cpp.

References cov.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

See also: getMean, getCovarianceAndMean

Definition at line 106 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( CPose3D & mean_point ) const

pure virtualinherited

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

See also: getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void mrpt::poses::CPose3DPDFGaussian::getMean ( CPose3D & mean_pose ) const

inline

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

See also: getCovariance

Definition at line 85 of file CPose3DPDFGaussian.h.

References mean().

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfStandardProposal().

◆ getMeanVal()

CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

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

See also: getCovariance, getInformationMatrix

Definition at line 58 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

const CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( ) const

inline

Definition at line 79 of file CPose3DPDFGaussian.h.

References mean().

◆ getPoseMean() [2/2]

CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( )

inline

Definition at line 80 of file CPose3DPDFGaussian.h.

References mean().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ inverse()

void CPose3DPDFGaussian::inverse ( CPose3DPDF & o ) const

virtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 450 of file CPose3DPDFGaussian.cpp.

References ASSERT_, CLASS_ID, and mrpt::poses::CPose3DPDF::GetRuntimeClass().

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and Pose3DPDFGaussTests::testPoseInverse().

◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )

inlinestaticinherited

Definition at line 92 of file CPose3DPDF.h.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )

inlinestaticinherited

Definition at line 94 of file CPose3DPDF.h.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::isInfType ( ) const

inlinevirtualinherited

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.

See also: mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

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:

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

Definition at line 133 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::math::jacobians::jacobs_6D_pose_comp(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

◆ mahalanobisDistanceTo()

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 602 of file CPose3DPDFGaussian.cpp.

References cov, mean, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().

◆ operator delete() [1/3]

void mrpt::poses::CPose3DPDFGaussian::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DPDFGaussian::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DPDFGaussian::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator delete[]()

void mrpt::poses::CPose3DPDFGaussian::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPose3DPDFGaussian::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DPDFGaussian::operator new ( size_t size )

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DPDFGaussian::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator new[]()

void* mrpt::poses::CPose3DPDFGaussian::operator new[] ( size_t size )

inline

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ operator+=() [1/2]

void CPose3DPDFGaussian::operator+= ( const CPose3D & Ap )

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

Definition at line 466 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

◆ operator+=() [2/2]

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 489 of file CPose3DPDFGaussian.cpp.

References copyFrom().

◆ operator-()

CPose3DPDFGaussian mrpt::poses::CPose3DPDFGaussian::operator- ( ) const

inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 146 of file CPose3DPDFGaussian.h.

References mrpt::pbmap::inverse(), and mrpt::poses::UNINITIALIZED_POSE.

◆ operator-=()

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 518 of file CPose3DPDFGaussian.cpp.

References copyFrom().

◆ readFromStream()

void CPose3DPDFGaussian::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 242 of file CPose3DPDFGaussian.cpp.

References cov, mean, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ saveToTextFile()

void CPose3DPDFGaussian::saveToTextFile ( const std::string & file ) const

virtual

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::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 316 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().

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CPose3DPDFGaussian::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 224 of file CPose3DPDFGaussian.cpp.

References cov, mean, and version.

Member Data Documentation

◆ _init_CPose3DPDFGaussian

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFGaussian::_init_CPose3DPDFGaussian

staticprotected

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

◆ classCPose3DPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF

staticinherited

Definition at line 42 of file CPose3DPDF.h.

◆ classCPose3DPDFGaussian

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFGaussian::classCPose3DPDFGaussian

static

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::classinfo

static

Definition at line 40 of file CPose3DPDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussian::cov

The 6x6 covariance matrix.

Definition at line 77 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(), 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(), readFromStream(), saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DPDFGaussTests::testToQuatPDFAndBack(), and writeToStream().

◆ mean

CPose3D mrpt::poses::CPose3DPDFGaussian::mean

The mean value.

Definition at line 73 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(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), 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::slam::CRangeBearingKFSLAM2D::OnGetAction(), 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(), readFromStream(), saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DPDFGaussTests::testToQuatPDFAndBack(), and writeToStream().

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ self_t

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

◆ CPose3DPDFGaussian() [2/6]

◆ CPose3DPDFGaussian() [3/6]

◆ CPose3DPDFGaussian() [4/6]

◆ CPose3DPDFGaussian() [5/6]

◆ CPose3DPDFGaussian() [6/6]

Member Function Documentation

◆ _GetBaseClass()

◆ asString() [1/2]

◆ asString() [2/2]

◆ assureSymmetry()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom() [1/3]

◆ copyFrom() [2/3]

◆ copyFrom() [3/3]

◆ Create()

◆ createFrom2D()

◆ CreateObject()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ evaluateNormalizedPDF()

◆ evaluatePDF()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getCovSubmatrix2D()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ mahalanobisDistanceTo()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-()

◆ operator-=()

◆ readFromStream()