Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.

Uncertainty of pose composition operations ( $y = x \oplus u$ ) is implemented in the method "CPose3DPDFGaussian::operator+=".

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

See also: CPose3D, CPose3DPDF, CPose3DPDFParticles

Definition at line 39 of file CPose3DPDFGaussian.h.

#include <mrpt/poses/CPose3DPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussian:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose3D, STATE_LEN >

using	cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
	Covariance matrix type. More...

using	inf_mat_t = cov_mat_t
	Information matrix type. More...

Public Member Functions
	CPose3DPDFGaussian ()
	Default constructor. More...

	CPose3DPDFGaussian (const CPose3D &init_Mean)
	Constructor. More...

	CPose3DPDFGaussian (TConstructorFlags_Poses constructor_dummy_param)
	Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More...

	CPose3DPDFGaussian (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_Cov)
	Constructor. More...

	CPose3DPDFGaussian (const CPosePDFGaussian &o)
	Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). More...

	CPose3DPDFGaussian (const CPose3DQuatPDFGaussian &o)
	Constructor from a 6D pose PDF described as a Quaternion. More...

const CPose3D &	getPoseMean () const

CPose3D &	getPoseMean ()

void	getMean (CPose3D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...

std::tuple< cov_mat_t, type_value >	getCovarianceAndMean () const override
	Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...

void	asString (std::string &s) const

std::string	asString () const

void	copyFrom (const CPose3DPDF &o) 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...

bool	saveToTextFile (const std::string &file) const 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) override
	this = p (+) this. More...

void	drawSingleSample (CPose3D &outPart) const override
	Draws a single sample from the distribution. More...

void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const 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) override
	Bayesian fusion of two points gauss. More...

void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

CPose3DPDFGaussian	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 CPose3DPDFGaussian &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

void	operator-= (const CPose3DPDFGaussian &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...

double	mahalanobisDistanceTo (const CPose3DPDFGaussian &theOther)
	Computes the Mahalanobis distance between the centers of two Gaussians. More...

void	getCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const
	Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. 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...

virtual void	getMean (type_value &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual void	getCovarianceAndMean (cov_mat_t &c, CPose3D &mean) const final

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

type_value	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 (cov_mat_t &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

cov_mat_t	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 (inf_mat_t &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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
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) 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 constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Public Attributes
CPose3D	mean
	The mean value. More...

mrpt::math::CMatrixDouble66	cov
	The 6x6 covariance matrix. More...

Static Public Attributes
static constexpr 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...

Protected Member Functions
void	enforceCovSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< CPose3DPDFGaussian >

using	ConstPtr = std::shared_ptr< const CPose3DPDFGaussian >

using	UniquePtr = std::unique_ptr< CPose3DPDFGaussian >

using	ConstUniquePtr = std::unique_ptr< const CPose3DPDFGaussian >

static mrpt::rtti::CLASSINIT	_init_CPose3DPDFGaussian

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DPDFGaussian"

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

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPose3DPDFGaussian::ConstPtr = std::shared_ptr<const CPose3DPDFGaussian >

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DPDFGaussian::ConstUniquePtr = std::unique_ptr<const CPose3DPDFGaussian >

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>

inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ inf_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

using mrpt::poses::CPose3DPDFGaussian::Ptr = std::shared_ptr< CPose3DPDFGaussian >

A type for the associated smart pointer

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value = CPose3D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPose3DPDFGaussian::UniquePtr = std::unique_ptr< CPose3DPDFGaussian >

Definition at line 41 of file CPose3DPDFGaussian.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 101 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 106 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( )

Default constructor.

Definition at line 49 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [2/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3D & init_Mean )

explicit

Constructor.

Definition at line 89 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [3/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( TConstructorFlags_Poses constructor_dummy_param )

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

Definition at line 53 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM.

◆ CPose3DPDFGaussian() [4/6]

CPose3DPDFGaussian::CPose3DPDFGaussian	(	const CPose3D &	init_Mean,
		const mrpt::math::CMatrixDouble66 &	init_Cov
	)

Constructor.

Definition at line 63 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [5/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPosePDFGaussian & o )

explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).

Definition at line 72 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::cov, and cov.

◆ CPose3DPDFGaussian() [6/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3DQuatPDFGaussian & o )

explicit

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

Definition at line 123 of file CPose3DPDFGaussian.cpp.

References copyFrom().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::_GetBaseClass ( )

staticprotected

◆ asString() [1/2]

void CPose3DPDFGaussian::asString ( std::string & s ) const

Definition at line 132 of file CPose3DPDFGaussian.cpp.

◆ asString() [2/2]

std::string mrpt::poses::CPose3DPDFGaussian::asString ( ) const

inline

Definition at line 101 of file CPose3DPDFGaussian.h.

◆ bayesianFusion()

void CPose3DPDFGaussian::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtual

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 368 of file CPose3DPDFGaussian.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFGaussian::changeCoordinatesReference ( const CPose3D & newReferenceBase )

overridevirtual

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::poses::CPose3DPDF.

Definition at line 300 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by mrpt::topography::path_from_rtk_gps(), and Pose3DPDFGaussTests::testChangeCoordsRef().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFGaussian::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ copyFrom() [1/3]

void CPose3DPDFGaussian::copyFrom ( const CPose3DPDF & o )

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 248 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), CPose3DPDFGaussian(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::obs::CActionCollection::getFirstMovementEstimation(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), operator+=(), and operator-=().

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◆ copyFrom() [2/3]

void CPose3DPDFGaussian::copyFrom ( const CPosePDF & o )

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

Definition at line 256 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mean, and mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

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◆ copyFrom() [3/3]

void CPose3DPDFGaussian::copyFrom ( const CPose3DQuatPDFGaussian & o )

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

Definition at line 142 of file CPose3DPDFGaussian.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixVectorBase< Scalar, Derived >::assign(), aux_posequat2poseypr(), mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::MatrixVectorBase< Scalar, Derived >::blockCopy(), mrpt::poses::CPose3DQuatPDFGaussian::cov, cov, mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mean, mrpt::poses::CPose3DQuatPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::poses::CPose3D::setFromValues(), mrpt::math::transform_gaussian_unscented(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::transpose(), mrpt::math::UNINITIALIZED_MATRIX, USE_SUT_QUAT2EULER_CONVERSION_value, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFGaussian::Create ( Args &&... args )

inlinestatic

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DPDFGaussian::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ createFrom2D()

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)

Warning: 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 49 of file CPose3DPDF.cpp.

References ASSERT_, CLASS_ID, cov2to3(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

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◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DPDFGaussian::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DPDFGaussian::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ drawManySamples()

void CPose3DPDFGaussian::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

overridevirtual

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

Definition at line 345 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes().

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◆ drawSingleSample() [1/2]

void CPose3DPDFGaussian::drawSingleSample ( CPose3D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 327 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

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◆ enforceCovSymmetry()

void CPose3DPDFGaussian::enforceCovSymmetry ( )

protected

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

Definition at line 549 of file CPose3DPDFGaussian.cpp.

References cov, and mrpt::math::CMatrixFixed< T, ROWS, COLS >::rows().

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◆ evaluateNormalizedPDF()

double CPose3DPDFGaussian::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 530 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ evaluatePDF()

double CPose3DPDFGaussian::evaluatePDF ( const CPose3D & x ) const

Evaluates the PDF at a given point.

Definition at line 508 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ getAs3DObject() [1/2]

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::CSetOfObjects::Ptr 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 122 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

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::CSetOfObjects::Ptr as template argument.

Definition at line 133 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFGaussian::getClassName ( )

inlinestatic

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ getCovariance() [1/3]

void mrpt::math::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 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( cov_mat_t & 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 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::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 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose3D &	mean
	)		const

inlinefinalvirtualinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [2/2]

std::tuple<cov_mat_t, type_value> mrpt::poses::CPose3DPDFGaussian::getCovarianceAndMean ( ) const

inlineoverridevirtual

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

See also: getMean

Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 95 of file CPose3DPDFGaussian.h.

References cov.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		type_value &	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 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::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 167 of file CProbabilityDensityFunction.h.

◆ getCovSubmatrix2D()

void CPose3DPDFGaussian::getCovSubmatrix2D ( mrpt::math::CMatrixDouble & out_cov ) const

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

Definition at line 600 of file CPose3DPDFGaussian.cpp.

References cov, and mrpt::math::CMatrixDynamic< T >::setSize().

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◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getInformationMatrix ( inf_mat_t & 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 130 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( type_value & mean_point ) const

pure virtualinherited

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

See also: getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void mrpt::poses::CPose3DPDFGaussian::getMean ( CPose3D & mean_pose ) const

inlineoverride

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

See also: getCovariance

Definition at line 90 of file CPose3DPDFGaussian.h.

References mean.

◆ getMeanVal()

type_value mrpt::math::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 77 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

const CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( ) const

inline

Definition at line 84 of file CPose3DPDFGaussian.h.

References mean.

◆ getPoseMean() [2/2]

CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( )

inline

Definition at line 85 of file CPose3DPDFGaussian.h.

References mean.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFGaussian::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DPDFGaussian::inverse ( CPose3DPDF & o ) const

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 412 of file CPose3DPDFGaussian.cpp.

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

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), operator-(), and Pose3DPDFGaussTests::testPoseInverse().

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◆ is_3D()

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

inlinestaticinherited

Definition at line 105 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

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

inlinestaticinherited

Definition at line 110 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , 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

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

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:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)

Definition at line 129 of file CPose3DPDF.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ mahalanobisDistanceTo()

double CPose3DPDFGaussian::mahalanobisDistanceTo ( const CPose3DPDFGaussian & 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 560 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mean, MRPT_END, MRPT_START, and mrpt::math::multiply_HtCH_scalar().

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().

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◆ operator+=() [1/2]

void CPose3DPDFGaussian::operator+= ( const CPose3D & Ap )

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

Definition at line 428 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator+=() [2/2]

void CPose3DPDFGaussian::operator+= ( const CPose3DPDFGaussian & Ap )

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

Definition at line 450 of file CPose3DPDFGaussian.cpp.

References copyFrom().

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◆ operator-()

CPose3DPDFGaussian mrpt::poses::CPose3DPDFGaussian::operator- ( ) const

inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 162 of file CPose3DPDFGaussian.h.

References inverse(), and mrpt::poses::UNINITIALIZED_POSE.

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◆ operator-=()

void CPose3DPDFGaussian::operator-= ( const CPose3DPDFGaussian & Ap )

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

Definition at line 479 of file CPose3DPDFGaussian.cpp.

References copyFrom().

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◆ saveToTextFile()

bool CPose3DPDFGaussian::saveToTextFile ( const std::string & file ) const

overridevirtual

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

Definition at line 279 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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◆ serializeFrom() [1/2]

void CPose3DPDFGaussian::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 232 of file CPose3DPDFGaussian.cpp.

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

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPose3DPDFGaussian::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 226 of file CPose3DPDFGaussian.cpp.

◆ serializeTo() [1/2]

void CPose3DPDFGaussian::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 227 of file CPose3DPDFGaussian.cpp.

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

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ _init_CPose3DPDFGaussian

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DPDFGaussian::_init_CPose3DPDFGaussian

staticprotected

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ className

constexpr const char* mrpt::poses::CPose3DPDFGaussian::className = "CPose3DPDFGaussian"

static

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussian::cov

The 6x6 covariance matrix.

Definition at line 82 of file CPose3DPDFGaussian.h.

Referenced by changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), CPose3DPDFGaussian(), drawManySamples(), drawSingleSample(), enforceCovSymmetry(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), getCovarianceAndMean(), getCovSubmatrix2D(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), saveToTextFile(), serializeFrom(), serializeTo(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ mean

CPose3D mrpt::poses::CPose3DPDFGaussian::mean

The mean value.

Definition at line 78 of file CPose3DPDFGaussian.h.

Referenced by mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), changeCoordinatesReference(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), getMean(), getPoseMean(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), mrpt::poses::CPose3DPDFGaussianInf::operator-=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), saveToTextFile(), serializeFrom(), serializeTo(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFGaussian::runtimeClassId

staticprotected

Definition at line 41 of file CPose3DPDFGaussian.h.

◆ state_length

constexpr size_t mrpt::math::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 32 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

◆ CPose3DPDFGaussian() [2/6]

◆ CPose3DPDFGaussian() [3/6]

◆ CPose3DPDFGaussian() [4/6]

◆ CPose3DPDFGaussian() [5/6]

◆ CPose3DPDFGaussian() [6/6]

Member Function Documentation

◆ _GetBaseClass()

◆ asString() [1/2]

◆ asString() [2/2]

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom() [1/3]

◆ copyFrom() [2/3]

◆ copyFrom() [3/3]

◆ Create()

◆ CreateAlloc()

◆ createFrom2D()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ enforceCovSymmetry()

◆ evaluateNormalizedPDF()

◆ evaluatePDF()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getClassName()

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getCovSubmatrix2D()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ mahalanobisDistanceTo()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-()

◆ operator-=()

◆ saveToTextFile()

◆ serializeFrom() [1/2]