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mrpt::poses::CPose3DPDFGaussianInf Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $ as a Gaussian described by its mean and its inverse covariance matrix.

This class implements that PDF using a mono-modal Gaussian distribution in "information" form (inverse covariance matrix).

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the method "CPose3DPDFGaussianInf::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also
CPose3D, CPose3DPDF, CPose3DPDFParticles, CPose3DPDFGaussian

Definition at line 42 of file CPose3DPDFGaussianInf.h.

#include <mrpt/poses/CPose3DPDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussianInf:
Inheritance graph

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPose3D
 The type of the state the PDF represents. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
const CPose3DgetPoseMean () const
 
CPose3DgetPoseMean ()
 
 CPose3DPDFGaussianInf ()
 Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful! More...
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean)
 Constructor with a mean value, inverse covariance=all zeros -> so be careful! More...
 
 CPose3DPDFGaussianInf (TConstructorFlags_Poses constructor_dummy_param)
 Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More...
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_CovInv)
 Constructor with mean and inv cov. More...
 
 CPose3DPDFGaussianInf (const CPose3DQuatPDFGaussian &o)
 Constructor from a 6D pose PDF described as a Quaternion. More...
 
void getMean (CPose3D &mean_pose) const override
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
bool isInfType () const override
 Returns whether the class instance holds the uncertainty in covariance or information form. More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const override
 Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...
 
virtual void getInformationMatrix (mrpt::math::CMatrixDouble66 &inf) const override
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More...
 
void copyFrom (const CPose3DPDF &o) override
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPosePDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPose3DQuatPDFGaussian &o)
 Copy from a 6D pose PDF described as a Quaternion. More...
 
bool saveToTextFile (const std::string &file) const override
 Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) override
 this = p (+) this. More...
 
void drawSingleSample (CPose3D &outPart) const override
 Draws a single sample from the distribution. More...
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
 Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum. More...
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
 Bayesian fusion of two points gauss. More...
 
void inverse (CPose3DPDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3DPDFGaussianInf operator- () const
 Unary - operator, returns the PDF of the inverse pose. More...
 
void operator+= (const CPose3D &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) More...
 
void operator+= (const CPose3DPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) More...
 
void operator-= (const CPose3DPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) More...
 
double evaluatePDF (const CPose3D &x) const
 Evaluates the PDF at a given point. More...
 
double evaluateNormalizedPDF (const CPose3D &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
 
void getInvCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const
 Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,y,yaw) only. More...
 
double mahalanobisDistanceTo (const CPose3DPDFGaussianInf &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. 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...
 
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 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...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr 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...
 

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) 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 ()
 

Public Attributes

Data fields
 
CPose3D mean
 The mean value. More...
 
mrpt::math::CMatrixDouble66 cov_inv
 The inverse of the 6x6 covariance matrix. More...
 

Static Public Attributes

static const size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...
 

Protected Types

using self_t = CPose3DPDFGaussianInf
 

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
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPose3DPDFGaussianInf >
 
using ConstPtr = std::shared_ptr< const CPose3DPDFGaussianInf >
 
using UniquePtr = std::unique_ptr< CPose3DPDFGaussianInf >
 
using ConstUniquePtr = std::unique_ptr< const CPose3DPDFGaussianInf >
 
static mrpt::rtti::CLASSINIT _init_CPose3DPDFGaussianInf
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPose3DPDFGaussianInf"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ ConstUniquePtr

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ self_t

Definition at line 46 of file CPose3DPDFGaussianInf.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 45 of file CPose3DPDFGaussianInf.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 104 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 109 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGaussianInf() [1/5]

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( )

Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!

Definition at line 36 of file CPose3DPDFGaussianInf.cpp.

◆ CPose3DPDFGaussianInf() [2/5]

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3D init_Mean)
explicit

Constructor with a mean value, inverse covariance=all zeros -> so be careful!

Definition at line 59 of file CPose3DPDFGaussianInf.cpp.

◆ CPose3DPDFGaussianInf() [3/5]

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( TConstructorFlags_Poses  constructor_dummy_param)

Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.

Definition at line 40 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM.

◆ CPose3DPDFGaussianInf() [4/5]

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3D init_Mean,
const mrpt::math::CMatrixDouble66 init_CovInv 
)

Constructor with mean and inv cov.

Definition at line 50 of file CPose3DPDFGaussianInf.cpp.

◆ CPose3DPDFGaussianInf() [5/5]

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3DQuatPDFGaussian o)
explicit

Constructor from a 6D pose PDF described as a Quaternion.

Definition at line 67 of file CPose3DPDFGaussianInf.cpp.

References copyFrom().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::_GetBaseClass ( )
staticprotected

◆ assureSymmetry()

void CPose3DPDFGaussianInf::assureSymmetry ( )
protected

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

Definition at line 341 of file CPose3DPDFGaussianInf.cpp.

References cov_inv.

◆ bayesianFusion()

void CPose3DPDFGaussianInf::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
overridevirtual

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::CPose3DPDF.

Definition at line 242 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFGaussianInf::changeCoordinatesReference ( const CPose3D newReferenceBase)
overridevirtual

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

Implements mrpt::poses::CPose3DPDF.

Definition at line 176 of file CPose3DPDFGaussianInf.cpp.

References copyFrom(), MRPT_END, and MRPT_START.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFGaussianInf::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ copyFrom() [1/3]

void CPose3DPDFGaussianInf::copyFrom ( const CPose3DPDF o)
overridevirtual

◆ copyFrom() [2/3]

void CPose3DPDFGaussianInf::copyFrom ( const CPosePDF o)

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

Definition at line 125 of file CPose3DPDFGaussianInf.cpp.

References copyFrom(), mrpt::poses::CPosePDFGaussianInf::cov_inv, cov_inv, IS_CLASS, mrpt::poses::CPosePDFGaussianInf::mean, mean, and mrpt::poses::UNINITIALIZED_POSE.

◆ copyFrom() [3/3]

void CPose3DPDFGaussianInf::copyFrom ( const CPose3DQuatPDFGaussian o)

Copy from a 6D pose PDF described as a Quaternion.

Definition at line 76 of file CPose3DPDFGaussianInf.cpp.

References copyFrom().

◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPose3DPDFGaussianInf::Create ( Args &&...  args)
inlinestatic

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)

Warning
It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.
See also
copyFrom

Definition at line 34 of file CPose3DPDF.cpp.

References mrpt::poses::CPose3DPDFSOG::begin(), CLASS_ID, mrpt::poses::CPose3DPDFGaussian::cov, cov_inv, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPose3DPDFGaussianInf::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPose3DPDFGaussianInf::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ drawManySamples()

void CPose3DPDFGaussianInf::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
overridevirtual

◆ drawSingleSample() [1/2]

void CPose3DPDFGaussianInf::drawSingleSample ( CPose3D outPart) const
override

◆ drawSingleSample() [2/2]

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

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

◆ evaluateNormalizedPDF()

double CPose3DPDFGaussianInf::evaluateNormalizedPDF ( const CPose3D x) const

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

Definition at line 332 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ evaluatePDF()

double CPose3DPDFGaussianInf::evaluatePDF ( const CPose3D x) const

Evaluates the PDF at a given point.

Definition at line 323 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ getAs3DObject() [1/2]

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::CSetOfObjects::Ptr 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 125 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

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::CSetOfObjects::Ptr as template argument.

Definition at line 136 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFGaussianInf::getClassName ( )
inlinestatic

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ getCovariance() [1/3]

void mrpt::math::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 80 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::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 90 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::math::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 103 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::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

◆ getCovarianceAndMean() [2/2]

void mrpt::poses::CPose3DPDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const
inlineoverride

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

See also
getMean

Definition at line 95 of file CPose3DPDFGaussianInf.h.

References cov_inv, and mean.

◆ getCovarianceDynAndMean()

void mrpt::math::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 56 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::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 170 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix() [1/2]

virtual void mrpt::poses::CPose3DPDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble66 inf) const
inlineoverridevirtual

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)

See also
getMean, getCovarianceAndMean

Definition at line 104 of file CPose3DPDFGaussianInf.h.

References cov_inv.

◆ getInformationMatrix() [2/2]

virtual void mrpt::math::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 126 of file CProbabilityDensityFunction.h.

◆ getInvCovSubmatrix2D()

void CPose3DPDFGaussianInf::getInvCovSubmatrix2D ( mrpt::math::CMatrixDouble out_cov) const

Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,y,yaw) only.

Definition at line 396 of file CPose3DPDFGaussianInf.cpp.

References cov_inv.

◆ getMean() [1/2]

virtual void mrpt::math::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

◆ getMean() [2/2]

void mrpt::poses::CPose3DPDFGaussianInf::getMean ( CPose3D mean_pose) const
inlineoverride

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

See also
getCovariance

Definition at line 90 of file CPose3DPDFGaussianInf.h.

References mean.

◆ getMeanVal()

CPose3D mrpt::math::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 69 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

const CPose3D& mrpt::poses::CPose3DPDFGaussianInf::getPoseMean ( ) const
inline

Definition at line 65 of file CPose3DPDFGaussianInf.h.

References mean.

◆ getPoseMean() [2/2]

CPose3D& mrpt::poses::CPose3DPDFGaussianInf::getPoseMean ( )
inline

Definition at line 66 of file CPose3DPDFGaussianInf.h.

References mean.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFGaussianInf::GetRuntimeClassIdStatic ( )
static

◆ inverse()

void CPose3DPDFGaussianInf::inverse ( CPose3DPDF o) const
overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 254 of file CPose3DPDFGaussianInf.cpp.

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

Referenced by operator-().

◆ is_3D()

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

Definition at line 108 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

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

Definition at line 113 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

bool mrpt::poses::CPose3DPDFGaussianInf::isInfType ( ) const
inlineoverridevirtual

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 from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 91 of file CPose3DPDFGaussianInf.h.

◆ jacobiansPoseComposition()

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

◆ mahalanobisDistanceTo()

double CPose3DPDFGaussianInf::mahalanobisDistanceTo ( const CPose3DPDFGaussianInf theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

Definition at line 353 of file CPose3DPDFGaussianInf.cpp.

References mrpt::math::cov(), cov_inv, mean, MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DPDFGaussianInf::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DPDFGaussianInf::operator delete ( void ptr)
inlinenoexcept

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DPDFGaussianInf::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator delete[]()

void mrpt::poses::CPose3DPDFGaussianInf::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DPDFGaussianInf::operator new ( size_t  size)
inline

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator new() [2/3]

static void* mrpt::poses::CPose3DPDFGaussianInf::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DPDFGaussianInf::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator new[]()

void* mrpt::poses::CPose3DPDFGaussianInf::operator new[] ( size_t  size)
inline

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ operator+=() [1/2]

void CPose3DPDFGaussianInf::operator+= ( const CPose3D Ap)

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

Definition at line 268 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

◆ operator+=() [2/2]

void CPose3DPDFGaussianInf::operator+= ( const CPose3DPDFGaussianInf Ap)

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

Definition at line 291 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, mean, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::UNINITIALIZED_POSE.

◆ operator-()

CPose3DPDFGaussianInf mrpt::poses::CPose3DPDFGaussianInf::operator- ( ) const
inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 157 of file CPose3DPDFGaussianInf.h.

References inverse(), and mrpt::poses::UNINITIALIZED_POSE.

◆ operator-=()

void CPose3DPDFGaussianInf::operator-= ( const CPose3DPDFGaussianInf Ap)

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

Definition at line 307 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, mean, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::UNINITIALIZED_POSE.

◆ saveToTextFile()

bool CPose3DPDFGaussianInf::saveToTextFile ( const std::string file) const
overridevirtual

◆ serializeFrom()

void CPose3DPDFGaussianInf::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 89 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, mrpt::math::deserializeSymmetricMatrixFrom(), mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CPose3DPDFGaussianInf::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 82 of file CPose3DPDFGaussianInf.cpp.

◆ serializeTo()

void CPose3DPDFGaussianInf::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 83 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, mean, and mrpt::math::serializeSymmetricMatrixTo().

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CPose3DPDFGaussianInf

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DPDFGaussianInf::_init_CPose3DPDFGaussianInf
staticprotected

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ className

constexpr const char* mrpt::poses::CPose3DPDFGaussianInf::className = "CPose3DPDFGaussianInf"
static

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ cov_inv

mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussianInf::cov_inv

◆ mean

CPose3D mrpt::poses::CPose3DPDFGaussianInf::mean

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFGaussianInf::runtimeClassId
staticprotected

Definition at line 45 of file CPose3DPDFGaussianInf.h.

◆ state_length

const size_t mrpt::math::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 33 of file CProbabilityDensityFunction.h.




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