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 32 of file CPosePDFGaussian.h.
#include <mrpt/poses/CPosePDFGaussian.h>
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... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
const CPose2D & | getPoseMean () const |
CPose2D & | getPoseMean () |
CPosePDFGaussian () | |
Default constructor. More... | |
CPosePDFGaussian (const CPose2D &init_Mean) | |
Constructor. More... | |
CPosePDFGaussian (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov) | |
Constructor. More... | |
CPosePDFGaussian (const CPosePDF &o) | |
Copy constructor, including transformations between other PDFs. More... | |
CPosePDFGaussian (const CPose3DPDF &o) | |
Copy constructor, including transformations between other PDFs. More... | |
void | getMean (CPose2D &mean_pose) const MRPT_OVERRIDE |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More... | |
void | copyFrom (const CPosePDF &o) MRPT_OVERRIDE |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | copyFrom (const CPose3DPDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | saveToTextFile (const std::string &file) const MRPT_OVERRIDE |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE |
this = p (+) this. More... | |
void | changeCoordinatesReference (const CPose2D &newReferenceBase) |
this = p (+) this. More... | |
void | rotateCov (const double ang) |
Rotate the covariance matrix by replacing it by ![]() ![]() | |
void | inverseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &ref) |
Set ![]() | |
void | inverseComposition (const CPosePDFGaussian &x1, const CPosePDFGaussian &x0, const mrpt::math::CMatrixDouble33 &COV_01) |
Set ![]() | |
void | drawSingleSample (CPose2D &outPart) const MRPT_OVERRIDE |
Draws a single sample from the distribution. More... | |
void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE |
Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum. More... | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE |
Bayesian fusion of two points gauss. More... | |
void | inverse (CPosePDF &o) const MRPT_OVERRIDE |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | operator+= (const CPose2D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const CPose2D &x) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const CPose2D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More... | |
double | mahalanobisDistanceTo (const CPosePDFGaussian &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. More... | |
void | assureMinCovariance (const double &minStdXY, const double &minStdPhi) |
Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...) More... | |
void | operator+= (const CPosePDFGaussian &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More... | |
void | operator-= (const CPosePDFGaussian &ref) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) More... | |
void | composePoint (const mrpt::math::TPoint2D &l, CPoint2DPDFGaussian &g) const |
Returns the PDF of the 2D point ![]() | |
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 mxArray * | writeToMatlab () 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... | |
CObject * | clone () 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 void | getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More... | |
virtual void | drawSingleSample (CPose2D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static void | jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true) |
This static method computes the pose composition Jacobians, with these formulas: More... | |
static void | jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du) |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
Data fields | |
CPose2D | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble33 | cov |
The 3x3 covariance matrix. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
static const size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More... | |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCPosePDF |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | assureSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
RTTI stuff | |
typedef CPosePDFGaussianPtr | 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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPosePDFGaussianPtr | Create () |
typedef CPosePDFGaussianPtr mrpt::poses::CPosePDFGaussian::SmartPtr |
A typedef for the associated smart pointer
Definition at line 35 of file CPosePDFGaussian.h.
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inherited |
The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 91 of file CPosePDF.h.
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inherited |
Enumerator | |
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is_PDF_val |
Definition at line 93 of file CPosePDF.h.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | ) |
Default constructor.
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explicit |
Constructor.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | const CPose2D & | init_Mean, |
const mrpt::math::CMatrixDouble33 & | init_Cov | ||
) |
Constructor.
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inlineexplicit |
Copy constructor, including transformations between other PDFs.
Definition at line 67 of file CPosePDFGaussian.h.
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inlineexplicit |
Copy constructor, including transformations between other PDFs.
Definition at line 70 of file CPosePDFGaussian.h.
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staticprotected |
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...)
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protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
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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.
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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 >.
void mrpt::poses::CPosePDFGaussian::changeCoordinatesReference | ( | const CPose2D & | newReferenceBase | ) |
this = p (+) this.
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.
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inlineinherited |
void mrpt::poses::CPosePDFGaussian::composePoint | ( | const mrpt::math::TPoint2D & | l, |
CPoint2DPDFGaussian & | g | ||
) | const |
Returns the PDF of the 2D point with "q"=this pose and "l" a point without uncertainty.
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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)
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static |
|
static |
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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 >.
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pure virtualinherited |
Draws a single sample from the distribution.
void mrpt::poses::CPosePDFGaussian::drawSingleSample | ( | CPose2D & | outPart | ) | const |
Draws a single sample from the distribution.
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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.
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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)
Definition at line 100 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 109 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 67 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 76 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 85 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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inline |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
Definition at line 82 of file CPosePDFGaussian.h.
References mrpt::math::cov(), and mean().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 47 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 136 of file CProbabilityDensityFunction.h.
References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().
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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.
Definition at line 98 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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inline |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 75 of file CPosePDFGaussian.h.
References mean().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 57 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().
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inline |
Definition at line 51 of file CPosePDFGaussian.h.
References mean().
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inline |
Definition at line 52 of file CPosePDFGaussian.h.
References mean().
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
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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!).
void mrpt::poses::CPosePDFGaussian::inverseComposition | ( | const CPosePDFGaussian & | x1, |
const CPosePDFGaussian & | x0, | ||
const mrpt::math::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).
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inlinestaticinherited |
Definition at line 92 of file CPosePDF.h.
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inlinestaticinherited |
Definition at line 94 of file CPosePDF.h.
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staticinherited |
This static method computes the pose composition Jacobians, with these formulas:
Referenced by mrpt::math::jacobians::jacobs_2D_pose_comp().
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staticinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
double mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo | ( | const CPosePDFGaussian & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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inlinestatic |
Definition at line 35 of file CPosePDFGaussian.h.
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inline |
Definition at line 35 of file CPosePDFGaussian.h.
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 ).
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inline |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
Definition at line 162 of file CPosePDFGaussian.h.
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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.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
void mrpt::poses::CPosePDFGaussian::rotateCov | ( | const double | ang | ) |
Rotate the covariance matrix by replacing it by , where
.
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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 >.
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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.
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.
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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.
out | The output binary stream where object must be dumped. |
getVersion | If 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 35 of file CPosePDFGaussian.h.
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staticinherited |
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staticinherited |
Definition at line 41 of file CPosePDF.h.
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static |
Definition at line 35 of file CPosePDFGaussian.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 35 of file CPosePDFGaussian.h.
mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussian::cov |
The 3x3 covariance matrix.
Definition at line 47 of file CPosePDFGaussian.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist().
CPose2D mrpt::poses::CPosePDFGaussian::mean |
The mean value.
Definition at line 46 of file CPosePDFGaussian.h.
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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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