Declares a class that represents a Probability Density function (PDF) of a 2D pose .
This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPosePDF for more details.
Definition at line 51 of file CPosePDFGaussian.h.
#include <mrpt/poses/CPosePDFGaussian.h>
Public Member Functions | |
CPosePDFGaussian () | |
Default constructor. | |
CPosePDFGaussian (const CPose2D &init_Mean) | |
Constructor. | |
CPosePDFGaussian (const CPose2D &init_Mean, const CMatrixDouble33 &init_Cov) | |
Constructor. | |
CPosePDFGaussian (const CPosePDF &o) | |
Copy constructor, including transformations between other PDFs. | |
CPosePDFGaussian (const CPose3DPDF &o) | |
Copy constructor, including transformations between other PDFs. | |
void | getMean (CPose2D &mean_pose) const |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). | |
void | getCovarianceAndMean (CMatrixDouble33 &cov, CPose2D &mean_point) const |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. | |
void | copyFrom (const CPosePDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
void | copyFrom (const CPose3DPDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
void | saveToTextFile (const std::string &file) const |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
void | changeCoordinatesReference (const CPose2D &newReferenceBase) |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
void | rotateCov (const double ang) |
Rotate the covariance matrix by replacing it by ![]() ![]() | |
void | inverseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &ref) |
Set ![]() | |
void | inverseComposition (const CPosePDFGaussian &x1, const CPosePDFGaussian &x0, const CMatrixDouble33 &COV_01) |
Set ![]() | |
void | drawSingleSample (CPose2D &outPart) const |
Draws a single sample from the distribution. | |
void | drawManySamples (size_t N, std::vector< vector_double > &outSamples) const |
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. | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) |
Bayesian fusion of two points gauss. | |
void | inverse (CPosePDF &o) const |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. | |
void | operator+= (const CPose2D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). | |
double | evaluatePDF (const CPose2D &x) const |
Evaluates the PDF at a given point. | |
double | evaluateNormalizedPDF (const CPose2D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. | |
double | mahalanobisDistanceTo (const CPosePDFGaussian &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. | |
void | assureMinCovariance (const double &minStdXY, const double &minStdPhi) |
Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...) | |
void | operator+= (const CPosePDFGaussian &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). | |
void | operator-= (const CPosePDFGaussian &ref) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) | |
Static Public Member Functions | |
static void | jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du) |
This static method computes the pose composition Jacobians, with these formulas: | |
Public Attributes | |
Data fields | |
CPose2D | mean |
The mean value. | |
CMatrixDouble33 | cov |
The 3x3 covariance matrix. | |
Protected Member Functions | |
void | assureSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) | |
RTTI stuff | |
typedef CPosePDFGaussianPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPosePDFGaussian |
static mrpt::utils::TRuntimeClassId | classCPosePDFGaussian |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CPosePDFGaussianPtr | Create () |
A typedef for the associated smart pointer
Definition at line 54 of file CPosePDFGaussian.h.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | ) |
Default constructor.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | const CPose2D & | init_Mean ) | [explicit] |
Constructor.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | const CPose2D & | init_Mean, |
const CMatrixDouble33 & | init_Cov | ||
) |
Constructor.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | const CPosePDF & | o ) | [inline, explicit] |
Copy constructor, including transformations between other PDFs.
Definition at line 83 of file CPosePDFGaussian.h.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | const CPose3DPDF & | o ) | [inline, explicit] |
Copy constructor, including transformations between other PDFs.
Definition at line 86 of file CPosePDFGaussian.h.
static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGaussian::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::assureMinCovariance | ( | const double & | minStdXY, |
const double & | minStdPhi | ||
) |
Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...)
void mrpt::poses::CPosePDFGaussian::assureSymmetry | ( | ) | [protected] |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
void mrpt::poses::CPosePDFGaussian::bayesianFusion | ( | const CPosePDF & | p1, |
const CPosePDF & | p2, | ||
const double & | minMahalanobisDistToDrop = 0 |
||
) | [virtual] |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::changeCoordinatesReference | ( | const CPose3D & | newReferenceBase ) | [virtual] |
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 >.
void mrpt::poses::CPosePDFGaussian::changeCoordinatesReference | ( | const CPose2D & | newReferenceBase ) |
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.
void mrpt::poses::CPosePDFGaussian::copyFrom | ( | const CPosePDF & | o ) | [virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::copyFrom | ( | const CPose3DPDF & | o ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
static CPosePDFGaussianPtr mrpt::poses::CPosePDFGaussian::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::poses::CPosePDFGaussian::CreateObject | ( | ) | [static] |
void mrpt::poses::CPosePDFGaussian::drawManySamples | ( | size_t | N, |
std::vector< vector_double > & | 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 >.
void mrpt::poses::CPosePDFGaussian::drawSingleSample | ( | CPose2D & | outPart ) | const [virtual] |
Draws a single sample from the distribution.
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGaussian::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
double mrpt::poses::CPosePDFGaussian::evaluateNormalizedPDF | ( | const CPose2D & | x ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
double mrpt::poses::CPosePDFGaussian::evaluatePDF | ( | const CPose2D & | x ) | const |
Evaluates the PDF at a given point.
void mrpt::poses::CPosePDFGaussian::getCovarianceAndMean | ( | CMatrixDouble33 & | cov, |
CPose2D & | mean_point | ||
) | const |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
void mrpt::poses::CPosePDFGaussian::getMean | ( | CPose2D & | mean_pose ) | const [virtual] |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGaussian::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::inverse | ( | CPosePDF & | o ) | const [virtual] |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::inverseComposition | ( | const CPosePDFGaussian & | x, |
const CPosePDFGaussian & | ref | ||
) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!).
Referenced by mrpt::poses::operator-().
void mrpt::poses::CPosePDFGaussian::inverseComposition | ( | const CPosePDFGaussian & | x1, |
const CPosePDFGaussian & | x0, | ||
const CMatrixDouble33 & | COV_01 | ||
) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1).
static void mrpt::poses::CPosePDFGaussian::jacobiansPoseComposition | ( | const CPosePDFGaussian & | x, |
const CPosePDFGaussian & | u, | ||
CMatrixDouble33 & | df_dx, | ||
CMatrixDouble33 & | df_du | ||
) | [static] |
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 ]
Referenced by mrpt::math::jacobians::jacobs_2D_pose_comp().
double mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo | ( | const CPosePDFGaussian & | theOther ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
void mrpt::poses::CPosePDFGaussian::operator+= | ( | const CPose2D & | Ap ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
void mrpt::poses::CPosePDFGaussian::operator+= | ( | const CPosePDFGaussian & | Ap ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
void mrpt::poses::CPosePDFGaussian::operator-= | ( | const CPosePDFGaussian & | ref ) | [inline] |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
Definition at line 185 of file CPosePDFGaussian.h.
void mrpt::poses::CPosePDFGaussian::rotateCov | ( | const double | ang ) |
Rotate the covariance matrix by replacing it by , where
.
void mrpt::poses::CPosePDFGaussian::saveToTextFile | ( | const std::string & | file ) | const [virtual] |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGaussian::_init_CPosePDFGaussian [static, protected] |
Definition at line 54 of file CPosePDFGaussian.h.
Definition at line 54 of file CPosePDFGaussian.h.
const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGaussian::classinfo [static] |
Definition at line 54 of file CPosePDFGaussian.h.
The 3x3 covariance matrix.
Definition at line 66 of file CPosePDFGaussian.h.
The mean value.
Definition at line 65 of file CPosePDFGaussian.h.
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