Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).
This class implements that PDF using a 3D grid.
Definition at line 27 of file CPosePDFGrid.h.
#include <mrpt/poses/CPosePDFGrid.h>
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... | |
using | self_t = CProbabilityDensityFunction< CPose2D, 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 |
CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::DEG2RAD(180.0), double phiMin=-M_PI, double phiMax=M_PI) | |
Constructor: Initializes a, uniform distribution over the whole given range. More... | |
virtual | ~CPosePDFGrid () |
Destructor. More... | |
void | copyFrom (const CPosePDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | normalize () |
Normalizes the PDF, such as all cells sum the unity. More... | |
void | uniformDistribution () |
Assigns the same value to all the cells in the grid, so the sum 1. More... | |
void | getMean (CPose2D &mean_pose) const override |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). 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... | |
bool | saveToTextFile (const std::string &dataFile) const override |
Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override |
Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication) More... | |
void | inverse (CPosePDF &o) const override |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | drawSingleSample (CPose2D &outPart) const override |
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) 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... | |
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 (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 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 (CPose2D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
size_t | x2idx (double x) const |
Returns "indexes" from coordinates: More... | |
size_t | y2idx (double y) const |
Returns "indexes" from coordinates: More... | |
size_t | phi2idx (double phi) const |
Returns "indexes" from coordinates: More... | |
double | idx2x (size_t x) const |
Returns coordinates from "indexes": More... | |
double | idx2y (size_t y) const |
Returns coordinates from "indexes": More... | |
double | idx2phi (size_t phi) const |
Returns coordinates from "indexes": More... | |
void | setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PI, double phiMax=M_PI) |
Changes the limits and size of the grid, erasing previous contents: More... | |
const double * | getByPos (double x, double y, double phi) const |
Reads the contents of a cell. More... | |
double * | getByPos (double x, double y, double phi) |
Reads the contents of a cell. More... | |
const double * | getByIndex (size_t x, size_t y, size_t phi) const |
Reads the contents of a cell. More... | |
double * | getByIndex (size_t x, size_t y, size_t phi) |
Reads the contents of a cell. More... | |
void | getAsMatrix (const double &phi, MATRIXLIKE &outMat) |
Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". More... | |
double | getXMin () const |
Get info about the grid: More... | |
double | getXMax () const |
double | getYMin () const |
double | getYMax () const |
double | getPhiMin () const |
double | getPhiMax () const |
double | getResolutionXY () const |
double | getResolutionPhi () const |
size_t | getSizeX () const |
size_t | getSizeY () const |
size_t | getSizePhi () const |
Static Public Member Functions | |
static void * | operator 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) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
static bool | is_3D () |
static bool | is_PDF () |
Static Public Attributes | |
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... | |
Protected Member Functions | |
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... | |
Protected Attributes | |
double | m_xMin |
The limits and resolution of the grid: More... | |
double | m_xMax |
double | m_yMin |
double | m_yMax |
double | m_phiMin |
double | m_phiMax |
double | m_resolutionXY |
double | m_resolutionPhi |
size_t | m_sizeX |
The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi. More... | |
size_t | m_sizeY |
size_t | m_sizePhi |
size_t | m_sizeXY |
int | m_idxLeftX |
The indexes of the "left" borders: More... | |
int | m_idxLeftY |
int | m_idxLeftPhi |
std::vector< double > | m_data |
The data: More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPosePDFGrid > |
using | ConstPtr = std::shared_ptr< const CPosePDFGrid > |
using | UniquePtr = std::unique_ptr< CPosePDFGrid > |
using | ConstUniquePtr = std::unique_ptr< const CPosePDFGrid > |
static mrpt::rtti::CLASSINIT | _init_CPosePDFGrid |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPosePDFGrid" |
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... | |
using mrpt::poses::CPosePDFGrid::ConstPtr = std::shared_ptr<const CPosePDFGrid > |
Definition at line 29 of file CPosePDFGrid.h.
using mrpt::poses::CPosePDFGrid::ConstUniquePtr = std::unique_ptr<const CPosePDFGrid > |
Definition at line 29 of file CPosePDFGrid.h.
using mrpt::poses::CPosePDFGrid::Ptr = std::shared_ptr< CPosePDFGrid > |
A type for the associated smart pointer
Definition at line 29 of file CPosePDFGrid.h.
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inherited |
Definition at line 36 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 35 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPosePDFGrid::UniquePtr = std::unique_ptr< CPosePDFGrid > |
Definition at line 29 of file CPosePDFGrid.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 97 of file CPosePDF.h.
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inherited |
Enumerator | |
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is_PDF_val |
Definition at line 102 of file CPosePDF.h.
CPosePDFGrid::CPosePDFGrid | ( | double | xMin = -1.0f , |
double | xMax = 1.0f , |
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double | yMin = -1.0f , |
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double | yMax = 1.0f , |
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double | resolutionXY = 0.5f , |
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double | resolutionPhi = mrpt::DEG2RAD(180.0) , |
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double | phiMin = -M_PI , |
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double | phiMax = M_PI |
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) |
Constructor: Initializes a, uniform distribution over the whole given range.
Definition at line 32 of file CPosePDFGrid.cpp.
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virtual |
Destructor.
Definition at line 51 of file CPosePDFGrid.cpp.
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staticprotected |
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overridevirtual |
Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)
Implements mrpt::poses::CPosePDF.
Definition at line 183 of file CPosePDFGrid.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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 174 of file CPosePDFGrid.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPosePDF.
Definition at line 41 of file CPosePDFGrid.cpp.
References THROW_EXCEPTION.
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inlinestatic |
Definition at line 29 of file CPosePDFGrid.h.
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static |
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inlinestatic |
Definition at line 29 of file CPosePDFGrid.h.
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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 214 of file CPosePDFGrid.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)
Definition at line 205 of file CPosePDFGrid.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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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 169 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 127 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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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 116 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".
Definition at line 199 of file CPose2DGridTemplate.h.
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inlineinherited |
Reads the contents of a cell.
Definition at line 189 of file CPose2DGridTemplate.h.
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inlineinherited |
Reads the contents of a cell.
Definition at line 181 of file CPose2DGridTemplate.h.
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inlineinherited |
Reads the contents of a cell.
Definition at line 174 of file CPose2DGridTemplate.h.
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inlineinherited |
Reads the contents of a cell.
Definition at line 167 of file CPose2DGridTemplate.h.
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inlinestaticconstexpr |
Definition at line 29 of file CPosePDFGrid.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 103 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 80 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 90 of file CProbabilityDensityFunction.h.
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override |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
Definition at line 76 of file CPosePDFGrid.cpp.
References mrpt::math::cov(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, and mrpt::poses::CPosePDFParticles::resetDeterministic().
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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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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 56 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 170 of file CProbabilityDensityFunction.h.
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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 126 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 58 of file CPosePDFGrid.cpp.
References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 69 of file CProbabilityDensityFunction.h.
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inlineinherited |
Definition at line 218 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 217 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 220 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 219 of file CPose2DGridTemplate.h.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
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static |
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inlineinherited |
Definition at line 223 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 221 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 222 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 214 of file CPose2DGridTemplate.h.
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inlineinherited |
Get info about the grid:
Definition at line 213 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 216 of file CPose2DGridTemplate.h.
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inlineinherited |
Definition at line 215 of file CPose2DGridTemplate.h.
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inlineinherited |
Returns coordinates from "indexes":
Definition at line 90 of file CPose2DGridTemplate.h.
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inlineinherited |
Returns coordinates from "indexes":
Definition at line 74 of file CPose2DGridTemplate.h.
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inlineinherited |
Returns coordinates from "indexes":
Definition at line 82 of file CPose2DGridTemplate.h.
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPosePDF.
Definition at line 196 of file CPosePDFGrid.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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inlinestaticinherited |
Definition at line 101 of file CPosePDF.h.
References mrpt::poses::CPosePDF::is_3D_val.
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inlinestaticinherited |
Definition at line 106 of file CPosePDF.h.
References mrpt::poses::CPosePDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Definition at line 119 of file CProbabilityDensityFunction.h.
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staticinherited |
This static method computes the pose composition Jacobians, with these formulas:
Definition at line 32 of file CPosePDF.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().
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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.
References mrpt::poses::CPosePDF::jacobiansPoseComposition().
void CPosePDFGrid::normalize | ( | ) |
Normalizes the PDF, such as all cells sum the unity.
Definition at line 226 of file CPosePDFGrid.cpp.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
Definition at line 29 of file CPosePDFGrid.h.
Definition at line 29 of file CPosePDFGrid.h.
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inlinenoexcept |
Definition at line 29 of file CPosePDFGrid.h.
Definition at line 29 of file CPosePDFGrid.h.
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inline |
Definition at line 29 of file CPosePDFGrid.h.
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inlinenoexcept |
Definition at line 29 of file CPosePDFGrid.h.
Definition at line 29 of file CPosePDFGrid.h.
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inline |
Definition at line 29 of file CPosePDFGrid.h.
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inlineinherited |
Returns "indexes" from coordinates:
Definition at line 65 of file CPose2DGridTemplate.h.
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overridevirtual |
Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".
Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.
Definition at line 144 of file CPosePDFGrid.cpp.
References mrpt::format().
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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 110 of file CPosePDFGrid.cpp.
References 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 96 of file CPosePDFGrid.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 97 of file CPosePDFGrid.cpp.
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inlineinherited |
Changes the limits and size of the grid, erasing previous contents:
Definition at line 128 of file CPose2DGridTemplate.h.
void CPosePDFGrid::uniformDistribution | ( | ) |
Assigns the same value to all the cells in the grid, so the sum 1.
Definition at line 247 of file CPosePDFGrid.cpp.
References val.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().
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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 70 of file CSerializable.h.
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inlineinherited |
Returns "indexes" from coordinates:
Definition at line 47 of file CPose2DGridTemplate.h.
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inlineinherited |
Returns "indexes" from coordinates:
Definition at line 56 of file CPose2DGridTemplate.h.
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staticprotected |
Definition at line 29 of file CPosePDFGrid.h.
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staticconstexpr |
Definition at line 29 of file CPosePDFGrid.h.
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protectedinherited |
The data:
Definition at line 42 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 38 of file CPose2DGridTemplate.h.
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protectedinherited |
The indexes of the "left" borders:
Definition at line 38 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 38 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 29 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 29 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 30 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 29 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 34 of file CPose2DGridTemplate.h.
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protectedinherited |
The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.
Definition at line 34 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 34 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 34 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 29 of file CPose2DGridTemplate.h.
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protectedinherited |
The limits and resolution of the grid:
Definition at line 29 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 29 of file CPose2DGridTemplate.h.
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protectedinherited |
Definition at line 29 of file CPose2DGridTemplate.h.
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staticprotected |
Definition at line 29 of file CPosePDFGrid.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 33 of file CProbabilityDensityFunction.h.
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