CPose3DPDF.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/CProbabilityDensityFunction.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::poses
{
class CPosePDF;

/** Declares a class that represents a Probability Density Function (PDF) of a
 * 3D pose (6D actually).
 *   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 3D points (without attitude), see CPointPDF
 *
 *
 *  See also the tutorial on <a
 * href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic
 * spatial representations in the MRPT</a>.
 *
 * \sa CPose3D, CPosePDF, CPointPDF
 * \ingroup poses_pdf_grp
 */
class CPose3DPDF : public mrpt::serialization::CSerializable,
                   public mrpt::math::CProbabilityDensityFunction<CPose3D, 6>
{
    DEFINE_VIRTUAL_SERIALIZABLE(CPose3DPDF)

   public:
    /** Copy operator, translating if necesary (for example, between particles
     * and gaussian representations)
     * \sa createFrom2D
     */
    virtual void copyFrom(const CPose3DPDF& o) = 0;

    /** 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.
     *
     * \sa copyFrom
     */
    static CPose3DPDF* createFrom2D(const CPosePDF& o);

    virtual void changeCoordinatesReference(
        const CPose3D& newReferenceBase) = 0;

    /** Bayesian fusion of two pose distributions, then save the result in this
     * object (WARNING: Currently only distributions of the same class can be
     * fused! eg, gaussian with gaussian,etc) */
    virtual void bayesianFusion(const CPose3DPDF& p1, const CPose3DPDF& p2) = 0;

    /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
    virtual void inverse(CPose3DPDF& o) const = 0;

    /** 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:
     * \code
     *      X(6D)       U(6D)
     *        |           |
     *        v           v
     *      X(7D)       U(7D)
     *        |           |
     *        +--- (+) ---+
     *              |
     *              v
     *            RES(7D)
     *              |
     *              v
     *            RES(6D)
     * \endcode
     *
     */
    static void jacobiansPoseComposition(
        const CPose3D& x, const CPose3D& u, mrpt::math::CMatrixDouble66& df_dx,
        mrpt::math::CMatrixDouble66& df_du);

    enum
    {
        is_3D_val = 1
    };
    static constexpr bool is_3D() { return is_3D_val != 0; }
    enum
    {
        is_PDF_val = 1
    };
    static constexpr bool is_PDF() { return is_PDF_val != 0; }
    /** 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.
     * \note By default, ellipsoids for the confidence intervals of  "q=3" are
     * drawn; for more mathematical details, see
     * CGeneralizedEllipsoidTemplate::setQuantiles()
     * \sa mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on
     * pose-to-opengl conversion
     */
    template <class OPENGL_SETOFOBJECTSPTR>
    inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR& out_obj) const
    {
        using SETOFOBJECTS = typename OPENGL_SETOFOBJECTSPTR::element_type;
        out_obj->insertCollection(*SETOFOBJECTS::posePDF2opengl(*this));
    }

    /** Returns a 3D representation of this PDF.
     * \note Needs the mrpt-opengl library, and using
     * mrpt::opengl::CSetOfObjects::Ptr as template argument.
     */
    template <class OPENGL_SETOFOBJECTSPTR>
    inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const
    {
        using SETOFOBJECTS = typename OPENGL_SETOFOBJECTSPTR::element_type;
        return SETOFOBJECTS::posePDF2opengl(*this);
    }

};  // End of class def.
}  // namespace mrpt::poses