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mrpt::poses::CPointPDFSOG Class Referenceabstract

Detailed Description

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

This class implements that PDF as the following multi-modal Gaussian distribution:

$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i ) $

Where the number of modes N is the size of CPointPDFSOG::m_modes

See mrpt::poses::CPointPDF for more details.

See Also
CPointPDF, CPosePDF,

Definition at line 35 of file CPointPDFSOG.h.

#include <mrpt/poses/CPointPDFSOG.h>

Inheritance diagram for mrpt::poses::CPointPDFSOG:
Inheritance graph

Classes

struct  TGaussianMode
 The struct for each mode: More...
 

Public Types

typedef std::deque< TGaussianModeCListGaussianModes
 
typedef std::deque
< TGaussianMode >
::const_iterator 
const_iterator
 
typedef std::deque
< TGaussianMode >::iterator 
iterator
 
enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPoint3D type_value
 The type of the state the PDF represents. More...
 
typedef
CProbabilityDensityFunction
< CPoint3D, STATE_LEN > 
self_t
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CPointPDFSOG (size_t nModes=1)
 Default constructor. More...
 
void clear ()
 Clear all the gaussian modes. More...
 
const TGaussianModeoperator[] (size_t i) const
 Access to individual beacons. More...
 
TGaussianModeoperator[] (size_t i)
 Access to individual beacons. More...
 
const TGaussianModeget (size_t i) const
 Access to individual beacons. More...
 
TGaussianModeget (size_t i)
 Access to individual beacons. More...
 
void push_back (const TGaussianMode &m)
 Inserts a copy of the given mode into the SOG. More...
 
iterator begin ()
 
iterator end ()
 
const_iterator begin () const
 
const_iterator end () const
 
iterator erase (iterator i)
 
void resize (const size_t N)
 Resize the number of SOG modes. More...
 
size_t size () const
 Return the number of Gaussian modes. More...
 
bool empty () const
 Return whether there is any Gaussian mode. More...
 
void getMean (CPoint3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPoint3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. More...
 
void normalizeWeights ()
 Normalize the weights in m_modes such as the maximum log-weight is 0. More...
 
void getMostLikelyMode (CPointPDFGaussian &outVal) const
 Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...
 
double ESS () const
 Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]). More...
 
void copyFrom (const CPointPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void drawSingleSample (CPoint3D &outSample) const MRPT_OVERRIDE
 Draw a sample from the pdf. More...
 
void bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
 Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More...
 
void evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, mrpt::math::CMatrixD &outMatrix, bool sumOverAllZs=false)
 Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More...
 
double evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const
 Evaluates the PDF at a given point. 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 , class OPENGL_SETOFOBJECTS >
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...
 
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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
virtual void getMean (CPoint3D &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, CPoint3D &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, CPoint3D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPoint3D 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 (CPoint3D &outPart) const =0
 Draws a single sample from the distribution. More...
 
virtual void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
 Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static bool is_3D ()
 
static bool is_PDF ()
 

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 
classCPointPDF
 
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...
 

Protected Attributes

CListGaussianModes m_modes
 The list of SOG modes. More...
 

RTTI stuff

typedef CPointPDFSOGPtr Ptr
 
typedef CPointPDFSOGPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPointPDFSOG
 
static mrpt::utils::TRuntimeClassId classCPointPDFSOG
 
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPointPDFSOGPtr Create ()
 

Member Typedef Documentation

Definition at line 56 of file CPointPDFSOG.h.

Definition at line 57 of file CPointPDFSOG.h.

typedef CPointPDFSOGPtr mrpt::poses::CPointPDFSOG::ConstPtr

Definition at line 38 of file CPointPDFSOG.h.

Definition at line 58 of file CPointPDFSOG.h.

typedef CPointPDFSOGPtr mrpt::poses::CPointPDFSOG::Ptr

A typedef for the associated smart pointer

Definition at line 38 of file CPointPDFSOG.h.

typedef CProbabilityDensityFunction<CPoint3D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t
inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 55 of file CPointPDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 57 of file CPointPDF.h.

Constructor & Destructor Documentation

CPointPDFSOG::CPointPDFSOG ( size_t  nModes = 1)

Default constructor.

Parameters
nModesThe initial size of CPointPDFSOG::m_modes

Definition at line 36 of file CPointPDFSOG.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFSOG::_GetBaseClass ( )
staticprotected
void CPointPDFSOG::assureSymmetry ( )
protected

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

Definition at line 412 of file CPointPDFSOG.cpp.

References MRPT_END, and MRPT_START.

void CPointPDFSOG::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double &  minMahalanobisDistToDrop = 0 
)
virtual

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implements mrpt::poses::CPointPDF.

Definition at line 292 of file CPointPDFSOG.cpp.

References ASSERT_, mrpt::poses::CPointPDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPointPDF::GetRuntimeClass(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, m_modes, mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::math::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

iterator mrpt::poses::CPointPDFSOG::begin ( )
inline
const_iterator mrpt::poses::CPointPDFSOG::begin ( ) const
inline

Definition at line 105 of file CPointPDFSOG.h.

void CPointPDFSOG::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< CPoint3D, 3 >.

Definition at line 241 of file CPointPDFSOG.cpp.

void CPointPDFSOG::clear ( )
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPointPDFSOG::copyFrom ( const CPointPDF o)
virtual

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

Implements mrpt::poses::CPointPDF.

Definition at line 199 of file CPointPDFSOG.cpp.

References CLASS_ID, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPointPDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

static CPointPDFSOGPtr mrpt::poses::CPointPDFSOG::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPointPDFSOG::CreateObject ( )
static
virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 125 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

void CPointPDFSOG::drawSingleSample ( CPoint3D outSample) const
virtual mrpt::utils::CObject* mrpt::poses::CPointPDFSOG::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

bool mrpt::poses::CPointPDFSOG::empty ( ) const
inline

Return whether there is any Gaussian mode.

Definition at line 112 of file CPointPDFSOG.h.

iterator mrpt::poses::CPointPDFSOG::end ( )
inline
const_iterator mrpt::poses::CPointPDFSOG::end ( ) const
inline

Definition at line 106 of file CPointPDFSOG.h.

iterator mrpt::poses::CPointPDFSOG::erase ( iterator  i)
inline
double CPointPDFSOG::ESS ( ) const

Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).

Definition at line 450 of file CPointPDFSOG.cpp.

References MRPT_END, MRPT_START, and mrpt::math::square().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

double CPointPDFSOG::evaluatePDF ( const CPoint3D x,
bool  sumOverAllZs 
) const
void CPointPDFSOG::evaluatePDFInArea ( float  x_min,
float  x_max,
float  y_min,
float  y_max,
float  resolutionXY,
float  z,
mrpt::math::CMatrixD outMatrix,
bool  sumOverAllZs = false 
)

Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

Definition at line 473 of file CPointPDFSOG.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

const TGaussianMode& mrpt::poses::CPointPDFSOG::get ( size_t  i) const
inline

Access to individual beacons.

Definition at line 88 of file CPointPDFSOG.h.

References ASSERT_.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CBeacon::generateRingSOG().

TGaussianMode& mrpt::poses::CPointPDFSOG::get ( size_t  i)
inline

Access to individual beacons.

Definition at line 93 of file CPointPDFSOG.h.

References ASSERT_.

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPointPDF::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()

Definition at line 65 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::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 74 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPoint3D &  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
void CPointPDFSOG::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 cov,
CPoint3D mean_point 
) const

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

See Also
getMean

Definition at line 96 of file CPointPDFSOG.cpp.

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPoint3D &  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.

double mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( CPoint3D &  mean_point) const
pure virtualinherited

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

See Also
getCovarianceAndMean, getInformationMatrix
void CPointPDFSOG::getMean ( CPoint3D mean_point) const

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

See Also
getCovariance

Definition at line 62 of file CPointPDFSOG.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

void CPointPDFSOG::getMostLikelyMode ( CPointPDFGaussian outVal) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

Definition at line 559 of file CPointPDFSOG.cpp.

References empty().

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

static bool mrpt::poses::CPointPDF::is_3D ( )
inlinestaticinherited

Definition at line 56 of file CPointPDF.h.

static bool mrpt::poses::CPointPDF::is_PDF ( )
inlinestaticinherited

Definition at line 58 of file CPointPDF.h.

virtual bool mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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

Definition at line 100 of file CProbabilityDensityFunction.h.

void CPointPDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

Definition at line 430 of file CPointPDFSOG.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().

void mrpt::poses::CPointPDFSOG::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 38 of file CPointPDFSOG.h.

void mrpt::poses::CPointPDFSOG::operator delete ( void ptr)
throw (
)
inline

Definition at line 38 of file CPointPDFSOG.h.

void mrpt::poses::CPointPDFSOG::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 38 of file CPointPDFSOG.h.

void mrpt::poses::CPointPDFSOG::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 38 of file CPointPDFSOG.h.

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

Definition at line 38 of file CPointPDFSOG.h.

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

Definition at line 38 of file CPointPDFSOG.h.

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

Definition at line 38 of file CPointPDFSOG.h.

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

Definition at line 38 of file CPointPDFSOG.h.

const TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] ( size_t  i) const
inline

Access to individual beacons.

Definition at line 77 of file CPointPDFSOG.h.

References ASSERT_.

TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] ( size_t  i)
inline

Access to individual beacons.

Definition at line 82 of file CPointPDFSOG.h.

References ASSERT_.

void mrpt::poses::CPointPDFSOG::push_back ( const TGaussianMode m)
inline

Inserts a copy of the given mode into the SOG.

Definition at line 99 of file CPointPDFSOG.h.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

void CPointPDFSOG::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 159 of file CPointPDFSOG.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CPointPDFSOG::resize ( const size_t  N)
void CPointPDFSOG::saveToTextFile ( const std::string file) const
virtual

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

  • w (The weight)
  • x_mean (gaussian mean value)
  • y_mean (gaussian mean value)
  • x_mean (gaussian mean value)
  • C11 (Covariance elements)
  • C22 (Covariance elements)
  • C33 (Covariance elements)
  • C12 (Covariance elements)
  • C13 (Covariance elements)
  • C23 (Covariance elements)

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 223 of file CPointPDFSOG.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

size_t mrpt::poses::CPointPDFSOG::size ( ) const
inline
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.

void CPointPDFSOG::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 135 of file CPointPDFSOG.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPointPDFSOG::_init_CPointPDFSOG
staticprotected

Definition at line 38 of file CPointPDFSOG.h.

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

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDF::classCPointPDF
staticinherited

Definition at line 40 of file CPointPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDFSOG::classCPointPDFSOG
static

Definition at line 38 of file CPointPDFSOG.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFSOG::classinfo
static

Definition at line 38 of file CPointPDFSOG.h.

CListGaussianModes mrpt::poses::CPointPDFSOG::m_modes
protected

The list of SOG modes.

Definition at line 66 of file CPointPDFSOG.h.

Referenced by bayesianFusion().

const size_t mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().




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