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mrpt::poses::CPose3DPDFSOG Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^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 CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See Also
CPose3DPDF

Definition at line 34 of file CPose3DPDFSOG.h.

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:
Inheritance graph

Classes

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

Public Types

typedef
mrpt::aligned_containers
< TGaussianMode >::vector_t 
TModesList
 
typedef TModesList::const_iterator const_iterator
 
typedef TModesList::iterator iterator
 
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

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 ()
 
 CPose3DPDFSOG (size_t nModes=1)
 Default constructor. More...
 
void clear ()
 Clear all the gaussian modes. More...
 
void resize (const size_t N)
 Set 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...
 
iterator begin ()
 
iterator end ()
 
const_iterator begin () const
 
const_iterator end () const
 
void getMean (CPose3D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &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 normalizeWeights ()
 Normalize the weights in m_modes such as the maximum log-weight is 0. More...
 
void getMostLikelyMode (CPose3DPDFGaussian &outVal) const
 Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...
 
void copyFrom (const CPose3DPDF &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 bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE
 Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) 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,z,yaw,pitch,roll) datum. More...
 
void inverse (CPose3DPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
void appendFrom (const CPose3DPDFSOG &o)
 Append the Gaussian modes from "o" to the current set of modes of "this" density. More...
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...
 
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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 (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...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CPose3DPDFcreateFrom2D (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 ()
 

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...
 

Protected Attributes

TModesList m_modes
 Access directly to this array for modify the modes as desired. More...
 

RTTI stuff

typedef CPose3DPDFSOGPtr Ptr
 
typedef CPose3DPDFSOGPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFSOG
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFSOG
 
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 CPose3DPDFSOGPtr Create ()
 

Member Typedef Documentation

typedef TModesList::const_iterator mrpt::poses::CPose3DPDFSOG::const_iterator

Definition at line 57 of file CPose3DPDFSOG.h.

typedef CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::ConstPtr

Definition at line 37 of file CPose3DPDFSOG.h.

typedef TModesList::iterator mrpt::poses::CPose3DPDFSOG::iterator

Definition at line 58 of file CPose3DPDFSOG.h.

typedef CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file CPose3DPDFSOG.h.

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

Definition at line 33 of file CProbabilityDensityFunction.h.

Definition at line 56 of file CPose3DPDFSOG.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 91 of file CPose3DPDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

CPose3DPDFSOG::CPose3DPDFSOG ( size_t  nModes = 1)

Default constructor.

Parameters
nModesThe initial size of CPose3DPDFSOG::m_modes

Definition at line 30 of file CPose3DPDFSOG.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( )
staticprotected
void CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG o)

Append the Gaussian modes from "o" to the current set of modes of "this" density.

Definition at line 385 of file CPose3DPDFSOG.cpp.

References ASSERT_, m_modes, MRPT_END, and MRPT_START.

void CPose3DPDFSOG::assureSymmetry ( )
protected

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

Definition at line 305 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

void CPose3DPDFSOG::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
virtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

Definition at line 224 of file CPose3DPDFSOG.cpp.

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

iterator mrpt::poses::CPose3DPDFSOG::begin ( )
inline
const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const
inline

Definition at line 84 of file CPose3DPDFSOG.h.

void CPose3DPDFSOG::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 215 of file CPose3DPDFSOG.cpp.

void CPose3DPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 38 of file CPose3DPDFSOG.cpp.

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

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPose3DPDFSOG::copyFrom ( const CPose3DPDF o)
virtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 172 of file CPose3DPDFSOG.cpp.

References CLASS_ID, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, and MRPT_START.

static CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::Create ( )
static
CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited
static mrpt::utils::CObject* mrpt::poses::CPose3DPDFSOG::CreateObject ( )
static
void CPose3DPDFSOG::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,z,yaw,pitch,roll) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 351 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPose3DPDFSOG::drawSingleSample ( CPose3D outPart) const

Draws a single sample from the distribution.

Definition at line 342 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::empty ( ) const
inline

Return whether there is any Gaussian mode.

Definition at line 80 of file CPose3DPDFSOG.h.

iterator mrpt::poses::CPose3DPDFSOG::end ( )
inline

Definition at line 83 of file CPose3DPDFSOG.h.

Referenced by mrpt::opengl::CSetOfObjects::posePDF2opengl().

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const
inline

Definition at line 85 of file CPose3DPDFSOG.h.

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().

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().

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.

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.

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.

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
void CPose3DPDFSOG::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const

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

See Also
getMean

Definition at line 78 of file CPose3DPDFSOG.cpp.

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.

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.

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.

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
void CPose3DPDFSOG::getMean ( CPose3D mean_pose) const

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

See Also
getCovariance

Definition at line 56 of file CPose3DPDFSOG.cpp.

References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), and mrpt::poses::CPose3D::setFromValues().

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.

void CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian 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 404 of file CPose3DPDFSOG.cpp.

References empty().

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

void CPose3DPDFSOG::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 360 of file CPose3DPDFSOG.cpp.

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

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

Definition at line 92 of file CPose3DPDF.h.

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

Definition at line 94 of file CPose3DPDF.h.

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.

void CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
mrpt::math::CMatrixDouble66 df_dx,
mrpt::math::CMatrixDouble66 df_du 
)
staticinherited
void CPose3DPDFSOG::normalizeWeights ( )

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

Definition at line 323 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

void mrpt::poses::CPose3DPDFSOG::operator delete ( void ptr)
throw (
)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

void mrpt::poses::CPose3DPDFSOG::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

void mrpt::poses::CPose3DPDFSOG::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

void mrpt::poses::CPose3DPDFSOG::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

void* mrpt::poses::CPose3DPDFSOG::operator new ( size_t  size)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

static void* mrpt::poses::CPose3DPDFSOG::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 37 of file CPose3DPDFSOG.h.

void* mrpt::poses::CPose3DPDFSOG::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

void* mrpt::poses::CPose3DPDFSOG::operator new[] ( size_t  size)
inline

Definition at line 37 of file CPose3DPDFSOG.h.

void CPose3DPDFSOG::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 134 of file CPose3DPDFSOG.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION.

void CPose3DPDFSOG::resize ( const size_t  N)

Set the number of SOG modes.

Definition at line 46 of file CPose3DPDFSOG.cpp.

Referenced by inverse().

void CPose3DPDFSOG::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 linear weight)
  • x_mean (gaussian mean value)
  • y_mean (gaussian mean value)
  • x_mean (gaussian mean value)
  • yaw_mean (gaussian mean value, in radians)
  • pitch_mean (gaussian mean value, in radians)
  • roll_mean (gaussian mean value, in radians)
  • C11,C22,C33,C44,C55,C66 (Covariance elements)
  • C12,C13,C14,C15,C16 (Covariance elements)
  • C23,C24,C25,C25 (Covariance elements)
  • C34,C35,C36 (Covariance elements)
  • C45,C46 (Covariance elements)
  • C56 (Covariance elements)

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

Definition at line 197 of file CPose3DPDFSOG.cpp.

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

size_t mrpt::poses::CPose3DPDFSOG::size ( ) const
inline

Return the number of Gaussian modes.

Definition at line 79 of file CPose3DPDFSOG.h.

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 CPose3DPDFSOG::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 114 of file CPose3DPDFSOG.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFSOG::_init_CPose3DPDFSOG
staticprotected

Definition at line 37 of file CPose3DPDFSOG.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 42 of file CPose3DPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFSOG::classCPose3DPDFSOG
static

Definition at line 37 of file CPose3DPDFSOG.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::classinfo
static

Definition at line 37 of file CPose3DPDFSOG.h.

TModesList mrpt::poses::CPose3DPDFSOG::m_modes
protected

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes

Definition at line 69 of file CPose3DPDFSOG.h.

Referenced by appendFrom().

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.




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