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mrpt::poses::CPosePDFGrid Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).

This class implements that PDF using a 3D grid.

See Also
CPose2D, CPosePDF, CPose2DGridTemplate

Definition at line 30 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:
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 ()
 
 CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::utils::DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
 Constructor: Initializes a, uniform distribution over the whole given range. More...
 
virtual ~CPosePDFGrid ()
 Destructor. More...
 
void copyFrom (const CPosePDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void normalize ()
 Normalizes the PDF, such as all cells sum the unity. More...
 
void uniformDistribution ()
 Assigns the same value to all the cells in the grid, so the sum 1. More...
 
void getMean (CPose2D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...
 
void saveToTextFile (const std::string &dataFile) const MRPT_OVERRIDE
 Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
 Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication) More...
 
void inverse (CPosePDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
void drawSingleSample (CPose2D &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) More...
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const 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...
 
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...
 
size_t x2idx (double x) const
 Returns "indexes" from coordinates: More...
 
size_t y2idx (double y) const
 Returns "indexes" from coordinates: More...
 
size_t phi2idx (double phi) const
 Returns "indexes" from coordinates: More...
 
double idx2x (size_t x) const
 Returns coordinates from "indexes": More...
 
double idx2y (size_t y) const
 Returns coordinates from "indexes": More...
 
double idx2phi (size_t phi) const
 Returns coordinates from "indexes": More...
 
void setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)
 Changes the limits and size of the grid, erasing previous contents: More...
 
const double * getByPos (double x, double y, double phi) const
 Reads the contents of a cell. More...
 
double * getByPos (double x, double y, double phi)
 Reads the contents of a cell. More...
 
const double * getByIndex (size_t x, size_t y, size_t phi) const
 Reads the contents of a cell. More...
 
double * getByIndex (size_t x, size_t y, size_t phi)
 Reads the contents of a cell. More...
 
void getAsMatrix (const double &phi, MATRIXLIKE &outMat)
 Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". More...
 
double getXMin () const
 Get info about the grid: More...
 
double getXMax () const
 
double getYMin () const
 
double getYMax () const
 
double getPhiMin () const
 
double getPhiMax () const
 
double getResolutionXY () const
 
double getResolutionPhi () const
 
size_t getSizeX () const
 
size_t getSizeY () const
 
size_t getSizePhi () const
 

Static Public Member Functions

static 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 ()
 

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

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

double m_xMin
 The limits and resolution of the grid: More...
 
double m_xMax
 
double m_yMin
 
double m_yMax
 
double m_phiMin
 
double m_phiMax
 
double m_resolutionXY
 
double m_resolutionPhi
 
size_t m_sizeX
 The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi. More...
 
size_t m_sizeY
 
size_t m_sizePhi
 
size_t m_sizeXY
 
int m_idxLeftX
 The indexes of the "left" borders: More...
 
int m_idxLeftY
 
int m_idxLeftPhi
 
std::vector< double > m_data
 The data: More...
 

RTTI stuff

typedef CPosePDFGridPtr Ptr
 
typedef CPosePDFGridPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPosePDFGrid
 
static mrpt::utils::TRuntimeClassId classCPosePDFGrid
 
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 CPosePDFGridPtr Create ()
 

Member Typedef Documentation

typedef CPosePDFGridPtr mrpt::poses::CPosePDFGrid::ConstPtr

Definition at line 33 of file CPosePDFGrid.h.

typedef CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Ptr

A typedef for the associated smart pointer

Definition at line 33 of file CPosePDFGrid.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

CPosePDFGrid::CPosePDFGrid ( double  xMin = -1.0f,
double  xMax = 1.0f,
double  yMin = -1.0f,
double  yMax = 1.0f,
double  resolutionXY = 0.5f,
double  resolutionPhi = mrpt::utils::DEG2RAD(180),
double  phiMin = -M_PIf,
double  phiMax = M_PIf 
)

Constructor: Initializes a, uniform distribution over the whole given range.

Definition at line 33 of file CPosePDFGrid.cpp.

CPosePDFGrid::~CPosePDFGrid ( )
virtual

Destructor.

Definition at line 58 of file CPosePDFGrid.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGrid::_GetBaseClass ( )
staticprotected
void CPosePDFGrid::bayesianFusion ( const CPosePDF p1,
const CPosePDF p2,
const double &  minMahalanobisDistToDrop = 0 
)
virtual

Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

Implements mrpt::poses::CPosePDF.

Definition at line 218 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPosePDFGrid::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 209 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPosePDFGrid::copyFrom ( const CPosePDF o)
virtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 47 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

static CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPosePDFGrid::CreateObject ( )
static
void CPosePDFGrid::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 245 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPosePDFGrid::drawSingleSample ( CPose2D outPart) const

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 236 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGrid::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().

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::poses::CPose2DGridTemplate< double >::getAsMatrix ( const double &  phi,
MATRIXLIKE &  outMat 
)
inlineinherited
const double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex ( size_t  x,
size_t  y,
size_t  phi 
) const
inlineinherited
double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex ( size_t  x,
size_t  y,
size_t  phi 
)
inlineinherited
const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos ( double  x,
double  y,
double  phi 
) const
inlineinherited
double * mrpt::poses::CPose2DGridTemplate< double >::getByPos ( double  x,
double  y,
double  phi 
)
inlineinherited
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 CPosePDFGrid::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 cov,
CPose2D mean_point 
) const

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

See Also
getMean

Definition at line 85 of file CPosePDFGrid.cpp.

References mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::bayes::CParticleFilterData< T >::m_particles, and mrpt::poses::CPosePDFParticles::resetDeterministic().

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 CPosePDFGrid::getMean ( CPose2D mean_pose) const

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

See Also
getCovariance

Definition at line 68 of file CPosePDFGrid.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

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().

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const
inlineinherited
virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGrid::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const
inlineinherited
size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const
inlineinherited
size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const
inlineinherited

Get info about the grid:

Definition at line 214 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_xMin.

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t  phi) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t  x) const
inlineinherited
double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t  y) const
inlineinherited
void CPosePDFGrid::inverse ( CPosePDF o) const
virtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 227 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

void CPosePDFGrid::normalize ( )

Normalizes the PDF, such as all cells sum the unity.

Definition at line 257 of file CPosePDFGrid.cpp.

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

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 33 of file CPosePDFGrid.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double  phi) const
inlineinherited
void CPosePDFGrid::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 127 of file CPosePDFGrid.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CPosePDFGrid::saveToTextFile ( const std::string dataFile) const
virtual

Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

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

Definition at line 163 of file CPosePDFGrid.cpp.

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

void mrpt::poses::CPose2DGridTemplate< double >::setSize ( double  xMin,
double  xMax,
double  yMin,
double  yMax,
double  resolutionXY,
double  resolutionPhi,
double  phiMin = -M_PIf,
double  phiMax = M_PIf 
)
inlineinherited
void CPosePDFGrid::uniformDistribution ( )

Assigns the same value to all the cells in the grid, so the sum 1.

Definition at line 274 of file CPosePDFGrid.cpp.

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

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 CPosePDFGrid::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 105 of file CPosePDFGrid.cpp.

size_t mrpt::poses::CPose2DGridTemplate< double >::x2idx ( double  x) const
inlineinherited
size_t mrpt::poses::CPose2DGridTemplate< double >::y2idx ( double  y) const
inlineinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid
staticprotected

Definition at line 33 of file CPosePDFGrid.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::CPosePDFGrid::classCPosePDFGrid
static

Definition at line 33 of file CPosePDFGrid.h.

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

Definition at line 42 of file CSerializable.h.

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

Definition at line 33 of file CPosePDFGrid.h.

std::vector<double > mrpt::poses::CPose2DGridTemplate< double >::m_data
protectedinherited

The data:

Definition at line 44 of file CPose2DGridTemplate.h.

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftPhi
protectedinherited

Definition at line 40 of file CPose2DGridTemplate.h.

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftX
protectedinherited

The indexes of the "left" borders:

Definition at line 40 of file CPose2DGridTemplate.h.

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftY
protectedinherited

Definition at line 40 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMax
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMin
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionPhi
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionXY
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizePhi
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeX
protectedinherited

The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.

Definition at line 36 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeXY
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeY
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_xMax
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_xMin
protectedinherited

The limits and resolution of the grid:

Definition at line 29 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_yMax
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_yMin
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

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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