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mrpt::poses::CPose3DPDFGaussianInf Class Referenceabstract

Detailed Description

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

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

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

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

See also
CPose3D, CPose3DPDF, CPose3DPDFParticles, CPose3DPDFGaussian

Definition at line 38 of file CPose3DPDFGaussianInf.h.

#include <mrpt/poses/CPose3DPDFGaussianInf.h>

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

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3D type_value
 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) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
const CPose3DgetPoseMean () const
 
CPose3DgetPoseMean ()
 
 CPose3DPDFGaussianInf ()
 Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful! More...
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean)
 Constructor with a mean value, inverse covariance=all zeros -> so be careful! More...
 
 CPose3DPDFGaussianInf (TConstructorFlags_Poses constructor_dummy_param)
 Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More...
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_CovInv)
 Constructor with mean and inv cov. More...
 
 CPose3DPDFGaussianInf (const CPose3DQuatPDFGaussian &o)
 Constructor from a 6D pose PDF described as a Quaternion. More...
 
void getMean (CPose3D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
bool isInfType () const MRPT_OVERRIDE
 Returns whether the class instance holds the uncertainty in covariance or information form. More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const 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 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...
 
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...
 
CObjectclone () 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 voidoperator new (size_t size, void *ptr)
 
static CPose3DPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) 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
 
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
static const mrpt::utils::TRuntimeClassId classCPose3DPDF
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Types

typedef CPose3DPDFGaussianInf self_t
 

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 CPose3DPDFGaussianInfPtr Ptr
 
typedef CPose3DPDFGaussianInfPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFGaussianInf
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFGaussianInf
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DPDFGaussianInfPtr Create ()
 

Member Typedef Documentation

typedef CPose3DPDFGaussianInfPtr mrpt::poses::CPose3DPDFGaussianInf::ConstPtr

Definition at line 41 of file CPose3DPDFGaussianInf.h.

typedef CPose3DPDFGaussianInfPtr mrpt::poses::CPose3DPDFGaussianInf::Ptr

A typedef for the associated smart pointer

Definition at line 41 of file CPose3DPDFGaussianInf.h.

Definition at line 41 of file CPose3DPDFGaussianInf.h.

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 91 of file CPose3DPDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( )

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

Definition at line 37 of file CPose3DPDFGaussianInf.cpp.

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3D init_Mean)
explicit

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

Definition at line 60 of file CPose3DPDFGaussianInf.cpp.

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( TConstructorFlags_Poses  constructor_dummy_param)

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

Definition at line 44 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM.

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

Constructor with mean and inv cov.

Definition at line 52 of file CPose3DPDFGaussianInf.cpp.

CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3DQuatPDFGaussian o)
explicit

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

Definition at line 68 of file CPose3DPDFGaussianInf.cpp.

References copyFrom().

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::_GetBaseClass ( )
staticprotected
void CPose3DPDFGaussianInf::assureSymmetry ( )
protected

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

Definition at line 361 of file CPose3DPDFGaussianInf.cpp.

References cov_inv.

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

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

  • (x1,S1): Mean and variance of the p1 distribution.
  • (x2,S2): Mean and variance of the p2 distribution.
  • (x,S): Mean and variance of the resulting distribution.

S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );

Implements mrpt::poses::CPose3DPDF.

Definition at line 262 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CPose3DPDFGaussianInf::changeCoordinatesReference ( const CPose3D newReferenceBase)
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 >.

Definition at line 192 of file CPose3DPDFGaussianInf.cpp.

References copyFrom(), MRPT_END, and MRPT_START.

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPose3DPDFGaussianInf::copyFrom ( const CPose3DPDF o)
virtual
void CPose3DPDFGaussianInf::copyFrom ( const CPosePDF o)

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

Definition at line 147 of file CPose3DPDFGaussianInf.cpp.

References copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPosePDFGaussianInf::cov_inv, cov_inv, IS_CLASS, mrpt::poses::CPosePDFGaussianInf::mean, mean, and mrpt::poses::UNINITIALIZED_POSE.

void CPose3DPDFGaussianInf::copyFrom ( const CPose3DQuatPDFGaussian o)

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

Definition at line 77 of file CPose3DPDFGaussianInf.cpp.

References copyFrom().

static CPose3DPDFGaussianInfPtr mrpt::poses::CPose3DPDFGaussianInf::Create ( )
static
CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.

This object must be deleted by the user when not required anymore.

See also
copyFrom

Definition at line 34 of file CPose3DPDF.cpp.

References mrpt::poses::CPose3DPDFSOG::begin(), mrpt::poses::CPosePDFSOG::begin(), CLASS_ID, mrpt::poses::CPosePDFGaussian::cov, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPosePDFGaussianInf::cov_inv, cov_inv, mrpt::poses::CPosePDFSOG::end(), mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPosePDFGaussianInf::mean, mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::poses::CPosePDFSOG::size(), mrpt::poses::CPosePDFParticles::size(), and THROW_EXCEPTION.

static mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussianInf::CreateObject ( )
static
void CPose3DPDFGaussianInf::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
virtual
void CPose3DPDFGaussianInf::drawSingleSample ( CPose3D outPart) const
virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussianInf::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

double CPose3DPDFGaussianInf::evaluateNormalizedPDF ( const CPose3D x) const

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

Definition at line 352 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

double CPose3DPDFGaussianInf::evaluatePDF ( const CPose3D x) const

Evaluates the PDF at a given point.

Definition at line 343 of file CPose3DPDFGaussianInf.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()
See also
mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 102 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 111 of file CPose3DPDF.h.

References mrpt::poses::DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(), and mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 68 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 86 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3D &  mean_point 
) const
pure virtualinherited

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

See also
getMean, getInformationMatrix
void mrpt::poses::CPose3DPDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const
inline

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

See also
getMean

Definition at line 85 of file CPose3DPDFGaussianInf.h.

References mrpt::math::cov(), and mean().

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose3D &  mean_point 
) const
inlineinherited

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

See also
getMean, getInformationMatrix

Definition at line 48 of file CProbabilityDensityFunction.h.

double mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 144 of file CProbabilityDensityFunction.h.

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

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

See also
getMean, getCovarianceAndMean

Definition at line 91 of file CPose3DPDFGaussianInf.h.

References mrpt::pbmap::inverse(), MRPT_OVERRIDE, and saveToTextFile().

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 106 of file CProbabilityDensityFunction.h.

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

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

Definition at line 414 of file CPose3DPDFGaussianInf.cpp.

References cov_inv.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( CPose3D &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix
void mrpt::poses::CPose3DPDFGaussianInf::getMean ( CPose3D mean_pose) const
inline

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

See also
getCovariance

Definition at line 78 of file CPose3DPDFGaussianInf.h.

References mean().

CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 58 of file CProbabilityDensityFunction.h.

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

Definition at line 58 of file CPose3DPDFGaussianInf.h.

References mean().

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

Definition at line 59 of file CPose3DPDFGaussianInf.h.

References mean().

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

void CPose3DPDFGaussianInf::inverse ( CPose3DPDF o) const
virtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 272 of file CPose3DPDFGaussianInf.cpp.

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

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

Definition at line 92 of file CPose3DPDF.h.

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

Definition at line 94 of file CPose3DPDF.h.

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

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::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 81 of file CPose3DPDFGaussianInf.h.

void CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
mrpt::math::CMatrixDouble66 df_dx,
mrpt::math::CMatrixDouble66 df_du 
)
staticinherited
double CPose3DPDFGaussianInf::mahalanobisDistanceTo ( const CPose3DPDFGaussianInf theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

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

Definition at line 373 of file CPose3DPDFGaussianInf.cpp.

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

void mrpt::poses::CPose3DPDFGaussianInf::operator delete ( void ptr)
throw (
)
inline

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

Definition at line 41 of file CPose3DPDFGaussianInf.h.

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

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

Definition at line 287 of file CPose3DPDFGaussianInf.cpp.

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

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

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

Definition at line 311 of file CPose3DPDFGaussianInf.cpp.

References mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, cov_inv, mean, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::UNINITIALIZED_POSE.

CPose3DPDFGaussianInf mrpt::poses::CPose3DPDFGaussianInf::operator- ( ) const
inline
void CPose3DPDFGaussianInf::operator-= ( const CPose3DPDFGaussianInf Ap)

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

Definition at line 327 of file CPose3DPDFGaussianInf.cpp.

References mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, cov_inv, mean, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::UNINITIALIZED_POSE.

void CPose3DPDFGaussianInf::readFromStream ( mrpt::utils::CStream in,
int  version 
)
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.

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 error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 104 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CPose3DPDFGaussianInf::saveToTextFile ( const std::string file) const
virtual
virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

Referenced by mrpt::poses::operator<<(), mrpt::utils::TCamera::readFromStream(), mrpt::obs::CObservationImage::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), and mrpt::utils::CImage::readFromStream().

void CPose3DPDFGaussianInf::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 86 of file CPose3DPDFGaussianInf.cpp.

References cov_inv, and mean.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFGaussianInf::_init_CPose3DPDFGaussianInf
staticprotected

Definition at line 41 of file CPose3DPDFGaussianInf.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF
staticinherited

Definition at line 42 of file CPose3DPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFGaussianInf::classCPose3DPDFGaussianInf
static

Definition at line 41 of file CPose3DPDFGaussianInf.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::classinfo
static

Definition at line 41 of file CPose3DPDFGaussianInf.h.

mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussianInf::cov_inv
CPose3D mrpt::poses::CPose3DPDFGaussianInf::mean
const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::state_length
staticinherited

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

Definition at line 31 of file CProbabilityDensityFunction.h.




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