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mrpt::poses::CPosePDFGaussian Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $.

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

See Also
CPose2D, CPosePDF, CPosePDFParticles

Definition at line 32 of file CPosePDFGaussian.h.

#include <mrpt/poses/CPosePDFGaussian.h>

Inheritance diagram for mrpt::poses::CPosePDFGaussian:
Inheritance graph

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose2D type_value
 The type of the state the PDF represents. More...
 
typedef
CProbabilityDensityFunction
< CPose2D, 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 ()
 
const CPose2DgetPoseMean () const
 
CPose2DgetPoseMean ()
 
 CPosePDFGaussian ()
 Default constructor. More...
 
 CPosePDFGaussian (const CPose2D &init_Mean)
 Constructor. More...
 
 CPosePDFGaussian (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov)
 Constructor. More...
 
 CPosePDFGaussian (const CPosePDF &o)
 Copy constructor, including transformations between other PDFs. More...
 
 CPosePDFGaussian (const CPose3DPDF &o)
 Copy constructor, including transformations between other PDFs. More...
 
void getMean (CPose2D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &out_cov, CPose2D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...
 
void copyFrom (const CPosePDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPose3DPDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save PDF's particles to a text file, containing the 2D 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 changeCoordinatesReference (const CPose2D &newReferenceBase)
 this = p (+) this. More...
 
void rotateCov (const double ang)
 Rotate the covariance matrix by replacing it by $ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t $, where $ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] $. More...
 
void inverseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &ref)
 Set $ this = x1 \ominus x0 $ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!). More...
 
void inverseComposition (const CPosePDFGaussian &x1, const CPosePDFGaussian &x0, const mrpt::math::CMatrixDouble33 &COV_01)
 Set $ this = x1 \ominus x0 $ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1). More...
 
void drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum. More...
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
 Bayesian fusion of two points gauss. More...
 
void inverse (CPosePDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
void operator+= (const CPose2D &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
 
double evaluatePDF (const CPose2D &x) const
 Evaluates the PDF at a given point. More...
 
double evaluateNormalizedPDF (const CPose2D &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
 
double mahalanobisDistanceTo (const CPosePDFGaussian &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. More...
 
void assureMinCovariance (const double &minStdXY, const double &minStdPhi)
 Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...) More...
 
void operator+= (const CPosePDFGaussian &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More...
 
void operator-= (const CPosePDFGaussian &ref)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) More...
 
void composePoint (const mrpt::math::TPoint2D &l, CPoint2DPDFGaussian &g) const
 Returns the PDF of the 2D point $ g = q \oplus l$ with "q"=this pose and "l" a point without uncertainty. 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 (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...
 

Static Public Member Functions

static voidoperator 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)
 
static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

Data fields
CPose2D mean
 The mean value. More...
 
mrpt::math::CMatrixDouble33 cov
 The 3x3 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 
classCPosePDF
 
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 CPosePDFGaussianPtr Ptr
 
typedef CPosePDFGaussianPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPosePDFGaussian
 
static mrpt::utils::TRuntimeClassId classCPosePDFGaussian
 
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 CPosePDFGaussianPtr Create ()
 

Member Typedef Documentation

typedef CPosePDFGaussianPtr mrpt::poses::CPosePDFGaussian::ConstPtr

Definition at line 35 of file CPosePDFGaussian.h.

typedef CPosePDFGaussianPtr mrpt::poses::CPosePDFGaussian::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file CPosePDFGaussian.h.

typedef CProbabilityDensityFunction<CPose2D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , 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 91 of file CPosePDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPosePDF.h.

Constructor & Destructor Documentation

CPosePDFGaussian::CPosePDFGaussian ( )

Default constructor.

Definition at line 40 of file CPosePDFGaussian.cpp.

CPosePDFGaussian::CPosePDFGaussian ( const CPose2D init_Mean)
explicit

Constructor.

Definition at line 58 of file CPosePDFGaussian.cpp.

References cov.

CPosePDFGaussian::CPosePDFGaussian ( const CPose2D init_Mean,
const mrpt::math::CMatrixDouble33 init_Cov 
)

Constructor.

Definition at line 48 of file CPosePDFGaussian.cpp.

mrpt::poses::CPosePDFGaussian::CPosePDFGaussian ( const CPosePDF o)
inlineexplicit

Copy constructor, including transformations between other PDFs.

Definition at line 67 of file CPosePDFGaussian.h.

mrpt::poses::CPosePDFGaussian::CPosePDFGaussian ( const CPose3DPDF o)
inlineexplicit

Copy constructor, including transformations between other PDFs.

Definition at line 70 of file CPosePDFGaussian.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGaussian::_GetBaseClass ( )
staticprotected
void CPosePDFGaussian::assureMinCovariance ( const double &  minStdXY,
const double &  minStdPhi 
)

Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...)

Definition at line 431 of file CPosePDFGaussian.cpp.

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

void CPosePDFGaussian::assureSymmetry ( )
protected

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

Definition at line 369 of file CPosePDFGaussian.cpp.

References cov.

Referenced by bayesianFusion().

void CPosePDFGaussian::bayesianFusion ( const CPosePDF p1,
const CPosePDF p2,
const double &  minMahalanobisDistToDrop = 0 
)
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::CPosePDF.

Definition at line 267 of file CPosePDFGaussian.cpp.

References ASSERT_, assureSymmetry(), CLASS_ID, cov, mrpt::poses::CPosePDF::GetRuntimeClass(), mean, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFSOG::bayesianFusion().

void CPosePDFGaussian::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< CPose2D, 3 >.

Definition at line 176 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPose2D::composeFrom(), mean, mrpt::poses::CPose2D::phi(), and rotateCov().

Referenced by operator+().

void CPosePDFGaussian::changeCoordinatesReference ( const CPose2D newReferenceBase)

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.

Definition at line 190 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPose2D::composeFrom(), mean, mrpt::poses::CPose2D::phi(), and rotateCov().

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPosePDFGaussian::composePoint ( const mrpt::math::TPoint2D l,
CPoint2DPDFGaussian g 
) const
void CPosePDFGaussian::copyFrom ( const CPosePDF o)
virtual
void CPosePDFGaussian::copyFrom ( const CPose3DPDF o)

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

Definition at line 140 of file CPosePDFGaussian.cpp.

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

static CPosePDFGaussianPtr mrpt::poses::CPosePDFGaussian::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPosePDFGaussian::CreateObject ( )
static
void CPosePDFGaussian::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
virtual
virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

void CPosePDFGaussian::drawSingleSample ( CPose2D outPart) const
virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGaussian::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().

double CPosePDFGaussian::evaluateNormalizedPDF ( const CPose2D x) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

Definition at line 358 of file CPosePDFGaussian.cpp.

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

double CPosePDFGaussian::evaluatePDF ( const CPose2D x) const

Evaluates the PDF at a given point.

Definition at line 347 of file CPosePDFGaussian.cpp.

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

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPosePDF::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 101 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 110 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose2D &  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 mrpt::poses::CPosePDFGaussian::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 out_cov,
CPose2D mean_point 
) const
inline

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

See Also
getMean

Definition at line 82 of file CPosePDFGaussian.h.

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

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose2D &  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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.

double mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited
virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D &  mean_point) const
pure virtualinherited

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

See Also
getCovarianceAndMean, getInformationMatrix
void mrpt::poses::CPosePDFGaussian::getMean ( CPose2D mean_pose) const
inline

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

See Also
getCovariance

Definition at line 75 of file CPosePDFGaussian.h.

References mean().

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

const CPose2D& mrpt::poses::CPosePDFGaussian::getPoseMean ( ) const
inline

Definition at line 51 of file CPosePDFGaussian.h.

References mean().

CPose2D& mrpt::poses::CPosePDFGaussian::getPoseMean ( )
inline

Definition at line 52 of file CPosePDFGaussian.h.

References mean().

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

void CPosePDFGaussian::inverse ( CPosePDF o) const
virtual
void CPosePDFGaussian::inverseComposition ( const CPosePDFGaussian x,
const CPosePDFGaussian ref 
)

Set $ this = x1 \ominus x0 $ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!).

Definition at line 443 of file CPosePDFGaussian.cpp.

References cov, mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFGaussianInf::inverseComposition(), and mrpt::poses::operator-().

void CPosePDFGaussian::inverseComposition ( const CPosePDFGaussian x1,
const CPosePDFGaussian x0,
const mrpt::math::CMatrixDouble33 COV_01 
)

Set $ this = x1 \ominus x0 $ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1).

Definition at line 484 of file CPosePDFGaussian.cpp.

References cov, mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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

Definition at line 92 of file CPosePDF.h.

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

Definition at line 94 of file CPosePDF.h.

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 100 of file CProbabilityDensityFunction.h.

void CPosePDF::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 
)
staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]

Definition at line 35 of file CPosePDF.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), mrpt::poses::CPosePDFGaussianInf::operator+=(), and operator+=().

void CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian x,
const CPosePDFGaussian u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du 
)
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 23 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

double CPosePDFGaussian::mahalanobisDistanceTo ( const CPosePDFGaussian theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

Definition at line 381 of file CPosePDFGaussian.cpp.

References cov, mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt_scalar(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::wrapToPiInPlace().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

void CPosePDFGaussian::operator+= ( const CPose2D Ap)

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

Definition at line 338 of file CPosePDFGaussian.cpp.

References mean, and rotateCov().

void CPosePDFGaussian::operator+= ( const CPosePDFGaussian Ap)

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

Definition at line 527 of file CPosePDFGaussian.cpp.

References cov, mrpt::poses::CPosePDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

void mrpt::poses::CPosePDFGaussian::operator-= ( const CPosePDFGaussian ref)
inline

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

Definition at line 162 of file CPosePDFGaussian.h.

void CPosePDFGaussian::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 81 of file CPosePDFGaussian.cpp.

References cov, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CPosePDFGaussian::rotateCov ( const double  ang)

Rotate the covariance matrix by replacing it by $ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t $, where $ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] $.

Definition at line 201 of file CPosePDFGaussian.cpp.

References cov, and MRPT_ALIGN16.

Referenced by changeCoordinatesReference(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), and operator+=().

void CPosePDFGaussian::saveToTextFile ( const std::string file) const
virtual

Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 158 of file CPosePDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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 CPosePDFGaussian::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 66 of file CPosePDFGaussian.cpp.

References cov, and mean.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGaussian::_init_CPosePDFGaussian
staticprotected

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF
staticinherited

Definition at line 41 of file CPosePDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFGaussian::classCPosePDFGaussian
static

Definition at line 35 of file CPosePDFGaussian.h.

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

Definition at line 42 of file CSerializable.h.

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

Definition at line 35 of file CPosePDFGaussian.h.

mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussian::cov

The 3x3 covariance matrix.

Definition at line 47 of file CPosePDFGaussian.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), assureMinCovariance(), assureSymmetry(), mrpt::graphs::detail::graph_ops< GRAPH_T >::auxMaha2Dist(), bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), composePoint(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::poses::CPosePDFParticles::copyFrom(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian(), CPosePDFGaussian(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D(), inverse(), inverseComposition(), mrpt::poses::CPosePDFGaussianInf::inverseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), operator+=(), mrpt::poses::operator<<(), mrpt::poses::operator==(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::slam::CMetricMapBuilderICP::processObservation(), ransac_data_assoc_run(), readFromStream(), rotateCov(), saveToTextFile(), mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::poses::CPoseRandomSampler::setPosePDF(), PosePDFGaussTests::testPoseInverse(), and writeToStream().

CPose2D mrpt::poses::CPosePDFGaussian::mean
const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , 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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