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mrpt::poses::CPosePDFGaussianInf Class Referenceabstract

Detailed Description

A Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $ as a Gaussian with a mean and the inverse of the covariance.

This class implements a PDF as a mono-modal Gaussian distribution in its information form, that is, keeping the inverse of the covariance matrix instead of the covariance matrix itself.

This class is the dual of CPosePDFGaussian.

See also
CPose2D, CPosePDF, CPosePDFParticles

Definition at line 36 of file CPosePDFGaussianInf.h.

#include <mrpt/poses/CPosePDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPosePDFGaussianInf:
Inheritance graph

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPose2D
 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 CPose2DgetPoseMean () const
 
CPose2DgetPoseMean ()
 
 CPosePDFGaussianInf ()
 Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!) More...
 
 CPosePDFGaussianInf (const CPose2D &init_Mean)
 Constructor with a mean value (inverse covariance=all zeros -> so be careful!) More...
 
 CPosePDFGaussianInf (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_CovInv)
 Constructor. More...
 
 CPosePDFGaussianInf (const CPosePDF &o)
 Copy constructor, including transformations between other PDFs. More...
 
 CPosePDFGaussianInf (const CPose3DPDF &o)
 Copy constructor, including transformations between other PDFs. More...
 
void getMean (CPose2D &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::CMatrixDouble33 &cov, CPose2D &mean_point) const override
 Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...
 
virtual void getInformationMatrix (mrpt::math::CMatrixDouble33 &inf) const override
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More...
 
void copyFrom (const CPosePDF &o) 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...
 
bool saveToTextFile (const std::string &file) const 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) 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 CPosePDFGaussianInf &x, const CPosePDFGaussianInf &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 CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &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 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 1x3 vectors, where each row contains a (x,y,phi) datum. More...
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
 Bayesian fusion of two points gauss. More...
 
void inverse (CPosePDF &o) const 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 CPosePDFGaussianInf &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. More...
 
void operator+= (const CPosePDFGaussianInf &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 CPosePDFGaussianInf &ref)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) 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 (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 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...
 
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 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_inv
 The inverse of the 3x3 covariance matrix (the "information" 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 = CPosePDFGaussianInf
 

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< CPosePDFGaussianInf >
 
using ConstPtr = std::shared_ptr< const CPosePDFGaussianInf >
 
using UniquePtr = std::unique_ptr< CPosePDFGaussianInf >
 
using ConstUniquePtr = std::unique_ptr< const CPosePDFGaussianInf >
 
static mrpt::rtti::CLASSINIT _init_CPosePDFGaussianInf
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPosePDFGaussianInf"
 
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 39 of file CPosePDFGaussianInf.h.

◆ ConstUniquePtr

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ self_t

Definition at line 40 of file CPosePDFGaussianInf.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 39 of file CPosePDFGaussianInf.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 97 of file CPosePDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 102 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFGaussianInf() [1/5]

CPosePDFGaussianInf::CPosePDFGaussianInf ( )

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

Definition at line 36 of file CPosePDFGaussianInf.cpp.

◆ CPosePDFGaussianInf() [2/5]

CPosePDFGaussianInf::CPosePDFGaussianInf ( const CPose2D init_Mean)
explicit

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

Definition at line 49 of file CPosePDFGaussianInf.cpp.

◆ CPosePDFGaussianInf() [3/5]

CPosePDFGaussianInf::CPosePDFGaussianInf ( const CPose2D init_Mean,
const mrpt::math::CMatrixDouble33 init_CovInv 
)

Constructor.

Definition at line 40 of file CPosePDFGaussianInf.cpp.

◆ CPosePDFGaussianInf() [4/5]

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

Copy constructor, including transformations between other PDFs.

Definition at line 75 of file CPosePDFGaussianInf.h.

References copyFrom().

◆ CPosePDFGaussianInf() [5/5]

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

Copy constructor, including transformations between other PDFs.

Definition at line 77 of file CPosePDFGaussianInf.h.

References copyFrom().

Member Function Documentation

◆ _GetBaseClass()

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

◆ assureSymmetry()

void CPosePDFGaussianInf::assureSymmetry ( )
protected

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

Definition at line 364 of file CPosePDFGaussianInf.cpp.

References cov_inv.

◆ bayesianFusion()

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

Definition at line 263 of file CPosePDFGaussianInf.cpp.

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

◆ changeCoordinatesReference() [1/2]

void CPosePDFGaussianInf::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::CPosePDF.

Definition at line 163 of file CPosePDFGaussianInf.cpp.

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

Referenced by operator+().

◆ changeCoordinatesReference() [2/2]

void CPosePDFGaussianInf::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 178 of file CPosePDFGaussianInf.cpp.

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

◆ clone()

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

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

Implements mrpt::rtti::CObject.

◆ copyFrom() [1/2]

void CPosePDFGaussianInf::copyFrom ( const CPosePDF o)
overridevirtual

◆ copyFrom() [2/2]

void CPosePDFGaussianInf::copyFrom ( const CPose3DPDF o)

◆ Create()

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ drawManySamples()

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

◆ drawSingleSample() [1/2]

void CPosePDFGaussianInf::drawSingleSample ( CPose2D outPart) const
override

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  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 CPosePDFGaussianInf::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 350 of file CPosePDFGaussianInf.cpp.

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

◆ evaluatePDF()

double CPosePDFGaussianInf::evaluatePDF ( const CPose2D x) const

Evaluates the PDF at a given point.

Definition at line 339 of file CPosePDFGaussianInf.cpp.

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

◆ getAs3DObject() [1/2]

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::CSetOfObjects::Ptr 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 116 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

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::CSetOfObjects::Ptr as template argument.

Definition at line 127 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getClassName()

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ getCovariance() [1/3]

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

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

◆ getCovariance() [2/3]

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

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

◆ getCovariance() [3/3]

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

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

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::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

◆ getCovarianceAndMean() [2/2]

void mrpt::poses::CPosePDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 cov,
CPose2D mean_point 
) const
inlineoverride

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

See also
getMean

Definition at line 86 of file CPosePDFGaussianInf.h.

References cov_inv, and mean.

◆ getCovarianceDynAndMean()

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

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

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

◆ getInformationMatrix() [1/2]

virtual void mrpt::poses::CPosePDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble33 inf) const
inlineoverridevirtual

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

See also
getMean, getCovarianceAndMean

Definition at line 95 of file CPosePDFGaussianInf.h.

References cov_inv.

◆ getInformationMatrix() [2/2]

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

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

◆ getMean() [1/2]

virtual void mrpt::math::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

◆ getMean() [2/2]

void mrpt::poses::CPosePDFGaussianInf::getMean ( CPose2D mean_pose) const
inlineoverride

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

See also
getCovariance

Definition at line 81 of file CPosePDFGaussianInf.h.

References mean.

◆ getMeanVal()

CPose2D mrpt::math::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 69 of file CProbabilityDensityFunction.h.

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

◆ getPoseMean() [1/2]

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

Definition at line 59 of file CPosePDFGaussianInf.h.

References mean.

◆ getPoseMean() [2/2]

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

Definition at line 60 of file CPosePDFGaussianInf.h.

References mean.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

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

◆ inverse()

void CPosePDFGaussianInf::inverse ( CPosePDF o) const
overridevirtual

◆ inverseComposition() [1/2]

void CPosePDFGaussianInf::inverseComposition ( const CPosePDFGaussianInf x,
const CPosePDFGaussianInf 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 433 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussian::cov, cov_inv, mrpt::poses::CPosePDFGaussian::inverseComposition(), mrpt::poses::CPosePDFGaussian::mean, mean, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by operator-=().

◆ inverseComposition() [2/2]

void CPosePDFGaussianInf::inverseComposition ( const CPosePDFGaussianInf x1,
const CPosePDFGaussianInf 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 458 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussian::cov, cov_inv, mrpt::poses::CPosePDFGaussian::inverseComposition(), mrpt::poses::CPosePDFGaussian::mean, mean, and mrpt::math::UNINITIALIZED_MATRIX.

◆ is_3D()

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

Definition at line 101 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

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

Definition at line 106 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

bool mrpt::poses::CPosePDFGaussianInf::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< CPose2D, 3 >.

Definition at line 82 of file CPosePDFGaussianInf.h.

◆ jacobiansPoseComposition() [1/2]

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 32 of file CPosePDF.cpp.

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

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and operator+=().

◆ jacobiansPoseComposition() [2/2]

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 22 of file CPosePDF.cpp.

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

◆ mahalanobisDistanceTo()

double CPosePDFGaussianInf::mahalanobisDistanceTo ( const CPosePDFGaussianInf theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

Definition at line 376 of file CPosePDFGaussianInf.cpp.

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

◆ operator delete() [1/3]

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator delete() [2/3]

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator delete() [3/3]

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator delete[]()

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator new() [1/3]

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator new() [2/3]

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator new() [3/3]

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator new[]()

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ operator+=() [1/2]

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

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

Definition at line 330 of file CPosePDFGaussianInf.cpp.

References mean, and rotateCov().

◆ operator+=() [2/2]

void CPosePDFGaussianInf::operator+= ( const CPosePDFGaussianInf 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 481 of file CPosePDFGaussianInf.cpp.

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

◆ operator-=()

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

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

Definition at line 192 of file CPosePDFGaussianInf.h.

References inverseComposition().

◆ rotateCov()

void CPosePDFGaussianInf::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 190 of file CPosePDFGaussianInf.cpp.

References cov_inv, and MRPT_MAX_ALIGN_BYTES.

Referenced by changeCoordinatesReference(), and operator+=().

◆ saveToTextFile()

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

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::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 145 of file CPosePDFGaussianInf.cpp.

References cov_inv, 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().

◆ serializeFrom()

void CPosePDFGaussianInf::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 61 of file CPosePDFGaussianInf.cpp.

References cov_inv, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CPosePDFGaussianInf::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 54 of file CPosePDFGaussianInf.cpp.

◆ serializeTo()

void CPosePDFGaussianInf::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 55 of file CPosePDFGaussianInf.cpp.

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

◆ 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_CPosePDFGaussianInf

mrpt::rtti::CLASSINIT mrpt::poses::CPosePDFGaussianInf::_init_CPosePDFGaussianInf
staticprotected

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ className

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ cov_inv

mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussianInf::cov_inv

◆ mean

CPose2D mrpt::poses::CPosePDFGaussianInf::mean

◆ runtimeClassId

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

Definition at line 39 of file CPosePDFGaussianInf.h.

◆ state_length

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




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