Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ .

This class implements that PDF as the following multi-modal Gaussian distribution:

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPosePDFSOG::m_modes

See mrpt::poses::CPosePDF for more details.

See also: CPose2D, CPosePDF, CPosePDFParticles

Definition at line 34 of file CPosePDFSOG.h.

#include <mrpt/poses/CPosePDFSOG.h>

Inheritance diagram for mrpt::poses::CPosePDFSOG:

Classes
struct	TGaussianMode
	The struct for each mode: More...

Public Types
using	CListGaussianModes = std::vector< TGaussianMode >

using	const_iterator = CListGaussianModes::const_iterator

using	iterator = CListGaussianModes::iterator

enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose2D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose2D, 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
const CListGaussianModes &	getSOGModes () const

	CPosePDFSOG (size_t nModes=1)
	Default constructor. More...

size_t	size () const
	Return the number of Gaussian modes. More...

bool	empty () const
	Return whether there is any Gaussian mode. More...

void	clear ()
	Clear the list of modes. More...

const TGaussianMode &	operator[] (size_t i) const
	Access to individual beacons. More...

TGaussianMode &	operator[] (size_t i)
	Access to individual beacons. More...

const TGaussianMode &	get (size_t i) const
	Access to individual beacons. More...

TGaussianMode &	get (size_t i)
	Access to individual beacons. More...

void	push_back (const TGaussianMode &m)
	Inserts a copy of the given mode into the SOG. More...

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

iterator	erase (iterator i)

void	resize (const size_t N)
	Resize the number of SOG modes. More...

void	mergeModes (double max_KLd=0.5, bool verbose=false)
	Merge very close modes so the overall number of modes is reduced while preserving the total distribution. More...

void	getMean (CPose2D &mean_pose) const override

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

void	getMostLikelyCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const
	For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean. More...

void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0. More...

void	copyFrom (const CPosePDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

bool	saveToTextFile (const std::string &file) const override
	Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More...

void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
	this = p (+) this. More...

void	rotateAllCovariances (double ang)
	Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ . More...

void	drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum. More...

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

void	operator+= (const mrpt::poses::CPose2D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

double	evaluatePDF (const mrpt::poses::CPose2D &x, bool sumOverAllPhis=false) const
	Evaluates the PDF at a given point. More...

double	evaluateNormalizedPDF (const mrpt::poses::CPose2D &x) const
	Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1]. More...

void	evaluatePDFInArea (double x_min, double x_max, double y_min, double y_max, double resolutionXY, double phi, mrpt::math::CMatrixDouble &outMatrix, bool sumOverAllPhis=false)
	Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More...

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object) 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, CPose2D &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 (CPose2D &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 void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
	This static method computes the pose composition Jacobians, with these formulas: More...

static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

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 ()
	Ensures 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...

Protected Attributes
CListGaussianModes	m_modes
	The list of SOG modes. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPosePDFSOG >

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPosePDFSOG"

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

◆ CListGaussianModes

using mrpt::poses::CPosePDFSOG::CListGaussianModes = std::vector<TGaussianMode>

Definition at line 65 of file CPosePDFSOG.h.

◆ const_iterator

using mrpt::poses::CPosePDFSOG::const_iterator = CListGaussianModes::const_iterator

Definition at line 66 of file CPosePDFSOG.h.

◆ ConstPtr

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

Definition at line 36 of file CPosePDFSOG.h.

◆ ConstUniquePtr

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

Definition at line 36 of file CPosePDFSOG.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , 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< CPose2D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ iterator

using mrpt::poses::CPosePDFSOG::iterator = CListGaussianModes::iterator

Definition at line 67 of file CPosePDFSOG.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 36 of file CPosePDFSOG.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose2D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value = CPose2D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

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

Definition at line 36 of file CPosePDFSOG.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 94 of file CPosePDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 99 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFSOG()

CPosePDFSOG::CPosePDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters

nModes The initial size of CPosePDFSOG::m_modes

Definition at line 36 of file CPosePDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ bayesianFusion()

void CPosePDFSOG::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double	minMahalanobisDistToDrop = `0`
	)

overridevirtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)

Implements mrpt::poses::CPosePDF.

Definition at line 272 of file CPosePDFSOG.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, mrpt::poses::CPosePDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::poses::CPosePDFGaussian::cov, mrpt::math::MatrixBase< Scalar, Derived >::det(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, M_2PI, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, and MRPT_START.

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◆ begin() [1/2]

iterator mrpt::poses::CPosePDFSOG::begin ( )

inline

Definition at line 119 of file CPosePDFSOG.h.

References m_modes.

◆ begin() [2/2]

const_iterator mrpt::poses::CPosePDFSOG::begin ( ) const

inline

Definition at line 121 of file CPosePDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPosePDFSOG::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::CPosePDF.

Definition at line 199 of file CPosePDFSOG.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::poses::CPose2D::getHomogeneousMatrix(), and mrpt::math::multiply_HCHt().

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◆ clear()

void CPosePDFSOG::clear ( )

Clear the list of modes.

Definition at line 40 of file CPosePDFSOG.cpp.

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPosePDFSOG::copyFrom ( const CPosePDF & o )

overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 157 of file CPosePDFSOG.cpp.

References CLASS_ID, mrpt::math::cov(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::math::mean(), MRPT_END, MRPT_START, and resize().

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 36 of file CPosePDFSOG.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 36 of file CPosePDFSOG.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 36 of file CPosePDFSOG.h.

◆ drawManySamples()

void CPosePDFSOG::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 258 of file CPosePDFSOG.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void CPosePDFSOG::drawSingleSample ( CPose2D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 248 of file CPosePDFSOG.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ 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 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

bool mrpt::poses::CPosePDFSOG::empty ( ) const

inline

Return whether there is any Gaussian mode.

Definition at line 87 of file CPosePDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPosePDFSOG::end ( )

inline

Definition at line 120 of file CPosePDFSOG.h.

References m_modes.

◆ end() [2/2]

const_iterator mrpt::poses::CPosePDFSOG::end ( ) const

inline

Definition at line 122 of file CPosePDFSOG.h.

References m_modes.

◆ enforceCovSymmetry()

void CPosePDFSOG::enforceCovSymmetry ( )

protected

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

Definition at line 453 of file CPosePDFSOG.cpp.

◆ erase()

iterator mrpt::poses::CPosePDFSOG::erase ( iterator i )

inline

Definition at line 123 of file CPosePDFSOG.h.

References m_modes.

◆ evaluateNormalizedPDF()

double CPosePDFSOG::evaluateNormalizedPDF ( const mrpt::poses::CPose2D & x ) const

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

Definition at line 434 of file CPosePDFSOG.cpp.

References mrpt::math::normalPDF().

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◆ evaluatePDF()

double CPosePDFSOG::evaluatePDF	(	const mrpt::poses::CPose2D &	x,
		bool	sumOverAllPhis = `false`
	)		const

Evaluates the PDF at a given point.

Definition at line 389 of file CPosePDFSOG.cpp.

References mrpt::math::normalPDF(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ evaluatePDFInArea()

void CPosePDFSOG::evaluatePDFInArea	(	double	x_min,
		double	x_max,
		double	y_min,
		double	y_max,
		double	resolutionXY,
		double	phi,
		mrpt::math::CMatrixDouble &	outMatrix,
		bool	sumOverAllPhis = `false`
	)

Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

Definition at line 485 of file CPosePDFSOG.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::CMatrixDynamic< T >::setSize().

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◆ get() [1/2]

const TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i ) const

inline

Access to individual beacons.

Definition at line 105 of file CPosePDFSOG.h.

References ASSERT_, and m_modes.

◆ get() [2/2]

TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i )

inline

Access to individual beacons.

Definition at line 111 of file CPosePDFSOG.h.

References ASSERT_, and m_modes.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::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()

Definition at line 113 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 124 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

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

inlinestatic

Definition at line 36 of file CPosePDFSOG.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose2D &	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.

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

◆ getCovarianceAndMean() [2/2]

std::tuple< CMatrixDouble33, CPose2D > CPosePDFSOG::getCovarianceAndMean ( ) const

overridevirtual

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

See also: getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 68 of file CPosePDFSOG.cpp.

References mrpt::math::cov(), mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), and mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt().

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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 CPosePDFSOG::getMean ( CPose2D & mean_pose ) const

override

Definition at line 50 of file CPosePDFSOG.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

◆ getMostLikelyCovarianceAndMean()

void CPosePDFSOG::getMostLikelyCovarianceAndMean	(	mrpt::math::CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.

See also: getMean

Definition at line 645 of file CPosePDFSOG.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::containers::begin(), mrpt::math::cov(), mrpt::containers::end(), and mrpt::math::MatrixBase< Scalar, Derived >::setIdentity().

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◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

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

static

◆ getSOGModes()

const CListGaussianModes& mrpt::poses::CPosePDFSOG::getSOGModes ( ) const

inline

Definition at line 69 of file CPosePDFSOG.h.

References m_modes.

◆ inverse()

void CPosePDFSOG::inverse ( CPosePDF & o ) const

overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 355 of file CPosePDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::math::cov(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::math::mean(), and out.

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◆ is_3D()

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

inlinestaticinherited

Definition at line 98 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

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

inlinestaticinherited

Definition at line 103 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du,
		const bool	compute_df_dx = `true`,
		const bool	compute_df_du = `true`
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

Definition at line 32 of file CPosePDF.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().

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◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du
	)

staticinherited

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 22 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

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◆ mergeModes()

void CPosePDFSOG::mergeModes	(	double	max_KLd = `0.5`,
		bool	verbose = `false`
	)

Merge very close modes so the overall number of modes is reduced while preserving the total distribution.

This method uses the approach described in the paper:

"Kullback-Leibler Approach to Gaussian Mixture Reduction" AR Runnalls. IEEE Transactions on Aerospace and Electronic Systems, 2007.

Parameters

max_KLd The maximum KL-divergence to consider the merge of two nodes (and then stops the process).

Definition at line 516 of file CPosePDFSOG.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CMatrixDynamic< T >::asEigen(), ASSERT_, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::math::cov(), mrpt::math::MatrixBase< Scalar, Derived >::det(), mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mrpt::math::mean(), MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), verbose, mrpt::math::wrapToPiInPlace(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ normalizeWeights()

void CPosePDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

Definition at line 468 of file CPosePDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ operator+=()

void CPosePDFSOG::operator+= ( const mrpt::poses::CPose2D & Ap )

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

Definition at line 379 of file CPosePDFSOG.cpp.

References mrpt::poses::CPose2D::phi().

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◆ operator[]() [1/2]

const TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i ) const

inline

Access to individual beacons.

Definition at line 92 of file CPosePDFSOG.h.

References ASSERT_, and m_modes.

◆ operator[]() [2/2]

TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i )

inline

Access to individual beacons.

Definition at line 98 of file CPosePDFSOG.h.

References ASSERT_, and m_modes.

◆ push_back()

void mrpt::poses::CPosePDFSOG::push_back ( const TGaussianMode & m )

inline

Inserts a copy of the given mode into the SOG.

Definition at line 118 of file CPosePDFSOG.h.

References m_modes.

◆ resize()

void CPosePDFSOG::resize ( const size_t N )

Resize the number of SOG modes.

Definition at line 44 of file CPosePDFSOG.cpp.

Referenced by copyFrom().

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◆ rotateAllCovariances()

void CPosePDFSOG::rotateAllCovariances ( double ang )

Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .

Definition at line 233 of file CPosePDFSOG.cpp.

References mrpt::math::multiply_HCHt().

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◆ saveToTextFile()

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

overridevirtual

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

w (The weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
phi_mean (gaussian mean value)
C11 (Covariance elements)
C22 (Covariance elements)
C33 (Covariance elements)
C12 (Covariance elements)
C13 (Covariance elements)
C23 (Covariance elements)

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 182 of file CPosePDFSOG.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

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◆ serializeFrom() [1/2]

void CPosePDFSOG::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 118 of file CPosePDFSOG.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::cast_double(), mrpt::math::deserializeSymmetricMatrixFrom(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and resize().

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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 CPosePDFSOG::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 106 of file CPosePDFSOG.cpp.

◆ serializeTo() [1/2]

void CPosePDFSOG::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 107 of file CPosePDFSOG.cpp.

References out, 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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◆ size()

size_t mrpt::poses::CPosePDFSOG::size ( ) const

inline

Return the number of Gaussian modes.

Definition at line 85 of file CPosePDFSOG.h.

References m_modes.

◆ 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

◆ className

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

static

Definition at line 36 of file CPosePDFSOG.h.

◆ m_modes

CListGaussianModes mrpt::poses::CPosePDFSOG::m_modes

protected

The list of SOG modes.

Definition at line 77 of file CPosePDFSOG.h.

Referenced by begin(), empty(), end(), erase(), get(), getSOGModes(), operator[](), push_back(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPosePDFSOG::runtimeClassId

staticprotected

Definition at line 36 of file CPosePDFSOG.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ CListGaussianModes

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ iterator

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPosePDFSOG()

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesReference()

◆ clear()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ enforceCovSymmetry()

◆ erase()

◆ evaluateNormalizedPDF()

◆ evaluatePDF()

◆ evaluatePDFInArea()

◆ get() [1/2]

◆ get() [2/2]

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getClassName()

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getMostLikelyCovarianceAndMean()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSOGModes()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition() [1/2]

◆ jacobiansPoseComposition() [2/2]

◆ mergeModes()

◆ normalizeWeights()

◆ operator+=()