Declares a class that represents a Probability Density function (PDF) of a 3D pose 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 ( ) is implemented in the method "CPose3DPDFGaussianInf::operator+=".
For further details on implemented methods and the theory behind them, see this report.
Definition at line 38 of file CPose3DPDFGaussianInf.h.
#include <mrpt/poses/CPose3DPDFGaussianInf.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
typedef CPose3D | 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 CPose3D & | getPoseMean () const |
CPose3D & | getPoseMean () |
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 MRPT_OVERRIDE |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_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 MRPT_OVERRIDE |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) More... | |
void | copyFrom (const CPose3DPDF &o) MRPT_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... | |
void | saveToTextFile (const std::string &file) const MRPT_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) MRPT_OVERRIDE |
this = p (+) this. More... | |
void | drawSingleSample (CPose3D &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 1x6 vectors, where each row contains a (x,y,phi) datum. More... | |
void | bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE |
Bayesian fusion of two points gauss. More... | |
void | inverse (CPose3DPDF &o) const MRPT_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 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 (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... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static CPose3DPDF * | createFrom2D (const CPosePDF &o) |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF. 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 | |
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CPose3D | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble66 | cov_inv |
The inverse of the 6x6 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 <br> | |
static const mrpt::utils::TRuntimeClassId | classCPose3DPDF |
RTTI stuff <br> | |
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 <br> | |
typedef CPose3DPDFGaussianInfPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPose3DPDFGaussianInf |
static mrpt::utils::TRuntimeClassId | classCPose3DPDFGaussianInf |
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 CPose3DPDFGaussianInfPtr | Create () |
typedef CPose3DPDFGaussianInfPtr mrpt::poses::CPose3DPDFGaussianInf::SmartPtr |
A typedef for the associated smart pointer
Definition at line 41 of file CPose3DPDFGaussianInf.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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Enumerator | |
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is_3D_val |
Definition at line 91 of file CPose3DPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 93 of file CPose3DPDF.h.
mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf | ( | ) |
Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!
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explicit |
Constructor with a mean value, inverse covariance=all zeros -> so be careful!
mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf | ( | TConstructorFlags_Poses | constructor_dummy_param | ) |
Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.
mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf | ( | const CPose3D & | init_Mean, |
const mrpt::math::CMatrixDouble66 & | init_CovInv | ||
) |
Constructor with mean and inv cov.
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explicit |
Constructor from a 6D pose PDF described as a Quaternion.
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staticprotected |
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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::CPose3DPDF.
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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< CPose3D, 6 >.
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inlineinherited |
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virtual |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DPDF.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().
void mrpt::poses::CPose3DPDFGaussianInf::copyFrom | ( | const CPose3DQuatPDFGaussian & | o | ) |
Copy from a 6D pose PDF described as a Quaternion.
void mrpt::poses::CPose3DPDFGaussianInf::copyFrom | ( | const CPosePDF & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
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static |
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staticinherited |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) 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.
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static |
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virtual |
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.
Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
void mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample | ( | CPose3D & | outPart | ) | const |
Draws a single sample from the distribution.
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pure virtualinherited |
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::CPose3DPDFGaussianInf::evaluateNormalizedPDF | ( | const CPose3D & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
double mrpt::poses::CPose3DPDFGaussianInf::evaluatePDF | ( | const CPose3D & | x | ) | const |
Evaluates the PDF at a given point.
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 109 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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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 CPose3DPDF.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 85 of file CProbabilityDensityFunction.h.
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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.
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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.
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inline |
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
Definition at line 83 of file CPose3DPDFGaussianInf.h.
References mrpt::math::cov(), and mean().
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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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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.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 136 of file CProbabilityDensityFunction.h.
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inlinevirtual |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
Definition at line 89 of file CPose3DPDFGaussianInf.h.
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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.
void mrpt::poses::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.
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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 77 of file CPose3DPDFGaussianInf.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.
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inline |
Definition at line 58 of file CPose3DPDFGaussianInf.h.
References mean().
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inline |
Definition at line 57 of file CPose3DPDFGaussianInf.h.
References mean().
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DPDF.
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virtual |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DPDF.
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inlinestaticinherited |
Definition at line 92 of file CPose3DPDF.h.
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inlinestaticinherited |
Definition at line 94 of file CPose3DPDF.h.
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staticinherited |
This static method computes the pose composition Jacobians.
See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty
Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:
Referenced by mrpt::math::jacobians::jacobs_6D_pose_comp().
double mrpt::poses::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.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inlinestatic |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
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inline |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
void mrpt::poses::CPose3DPDFGaussianInf::operator+= | ( | const CPose3D & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated)
void mrpt::poses::CPose3DPDFGaussianInf::operator+= | ( | const CPose3DPDFGaussianInf & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated)
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inline |
Unary - operator, returns the PDF of the inverse pose.
Definition at line 129 of file CPose3DPDFGaussianInf.h.
References mrpt::pbmap::inverse(), and mrpt::poses::UNINITIALIZED_POSE.
void mrpt::poses::CPose3DPDFGaussianInf::operator-= | ( | const CPose3DPDFGaussianInf & | Ap | ) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
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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.
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virtual |
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.
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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 41 of file CPose3DPDFGaussianInf.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CPose3DPDF.h.
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Definition at line 41 of file CPose3DPDFGaussianInf.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 41 of file CPose3DPDFGaussianInf.h.
mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussianInf::cov_inv |
The inverse of the 6x6 covariance matrix.
Definition at line 53 of file CPose3DPDFGaussianInf.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().
CPose3D mrpt::poses::CPose3DPDFGaussianInf::mean |
The mean value.
Definition at line 52 of file CPose3DPDFGaussianInf.h.
Referenced by mrpt::graphs::detail::TPosePDFHelper< CPose2D >::copyFrom3D(), mrpt::graphs::detail::TPosePDFHelper< CPose3D >::copyFrom3D(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().
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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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