Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z).

This class is just the base class for unifying many diferent ways this PDF can be implemented.

For convenience, a pose composition is also defined for any PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See also: CPoint3D

Definition at line 38 of file CPointPDF.h.

#include <mrpt/poses/CPointPDF.h>

Inheritance diagram for mrpt::poses::CPointPDF:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

typedef CPoint3D	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPoint3D, STATE_LEN >	self_t

Public Member Functions
virtual void	copyFrom (const CPointPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

virtual void	bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)=0
	Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) 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 , class OPENGL_SETOFOBJECTS >
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...

virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its class. More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

virtual void	getMean (CPoint3D &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, CPoint3D &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, CPoint3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPoint3D	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 bool	isInfType () const
	Returns whether the class instance holds the uncertainty in covariance or information form. 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	saveToTextFile (const std::string &file) const=0
	Save PDF's particles to a text file. More...

virtual void	drawSingleSample (CPoint3D &outPart) const=0
	Draws a single sample from the distribution. More...

virtual void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...

virtual void	changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0
	this = p (+) this. More...

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix. More...

RTTI classes and functions
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...

Static Public Member Functions
static bool	is_3D ()

static bool	is_PDF ()

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	classCSerializable

Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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 CPointPDFPtr	Ptr

typedef CPointPDFPtr	ConstPtr

static const mrpt::utils::TRuntimeClassId	classCPointPDF

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

Member Typedef Documentation

◆ ConstPtr

typedef CPointPDFPtr mrpt::poses::CPointPDF::ConstPtr

Definition at line 40 of file CPointPDF.h.

◆ Ptr

typedef CPointPDFPtr mrpt::poses::CPointPDF::Ptr

Definition at line 40 of file CPointPDF.h.

◆ self_t

typedef CProbabilityDensityFunction<CPoint3D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t

inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::type_value

inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 55 of file CPointPDF.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 57 of file CPointPDF.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDF::_GetBaseClass ( )

staticprotected

◆ bayesianFusion()

virtual void mrpt::poses::CPointPDF::bayesianFusion	(	const CPointPDF &	p1,
		const CPointPDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)

pure virtual

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters

p1	The first distribution to fuse
p2	The second distribution to fuse
minMahalanobisDistToDrop	If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implemented in mrpt::poses::CPointPDFSOG, mrpt::poses::CPointPDFGaussian, and mrpt::poses::CPointPDFParticles.

◆ changeCoordinatesReference()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::changeCoordinatesReference ( const mrpt::poses::CPose3D & newReferenceBase )

pure virtualinherited

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.

Implemented in mrpt::poses::CPointPDFSOG, mrpt::maps::CBeacon, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ copyFrom()

virtual void mrpt::poses::CPointPDF::copyFrom ( const CPointPDF & o )

pure virtual

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

Implemented in mrpt::poses::CPointPDFSOG, mrpt::maps::CBeacon, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

◆ drawManySamples()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 125 of file CProbabilityDensityFunction.h.

◆ drawSingleSample()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

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

pure virtualinherited

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

Referenced by mrpt::poses::CPoseRandomSampler::CPoseRandomSampler(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), mrpt::poses::CPoseRandomSampler::operator=(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPointPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inline

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()

Definition at line 65 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject ( ) const

inline

Returns a 3D representation of this PDF.

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

Definition at line 74 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

◆ getCovarianceAndMean()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPoint3D &	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

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPoint3D &	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.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

◆ getMean()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( CPoint3D & mean_point ) const

pure virtualinherited

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

See also: getCovarianceAndMean, getInformationMatrix

◆ getMeanVal()

CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPointPDFParticles, mrpt::maps::CBeacon, mrpt::poses::CPointPDFSOG, and mrpt::poses::CPointPDFGaussian.

Referenced by mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), and mrpt::poses::CPointPDFSOG::copyFrom().

◆ is_3D()

static bool mrpt::poses::CPointPDF::is_3D ( )

inlinestatic

Definition at line 56 of file CPointPDF.h.

◆ is_PDF()

static bool mrpt::poses::CPointPDF::is_PDF ( )

inlinestatic

Definition at line 58 of file CPointPDF.h.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::isInfType ( ) const

inlinevirtualinherited

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

Definition at line 100 of file CProbabilityDensityFunction.h.

◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

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

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.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

◆ saveToTextFile()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::saveToTextFile ( const std::string & file ) const

pure virtualinherited

Save PDF's particles to a text file.

See derived classes for more information about the format of generated files.

Implemented in mrpt::poses::CPointPDFSOG, mrpt::maps::CBeacon, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

◆ writeToMatlab()

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.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

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

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.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Referenced by mrpt::utils::CStream::WriteObject().

Friends And Related Function Documentation

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 40 of file CPointPDF.h.

Member Data Documentation

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classCPointPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDF::classCPointPDF

static

Definition at line 40 of file CPointPDF.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPoint3D , 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.

Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ self_t

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ drawManySamples()

◆ drawSingleSample()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean()

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean()

◆ getMeanVal()

◆ GetRuntimeClass()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ readFromStream()

◆ saveToTextFile()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ mrpt::utils::CStream

Member Data Documentation

◆ classCObject

◆ classCPointPDF

◆ classCSerializable

◆ state_length