Detailed Description

The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions.

This class is used for storage within the class CBeaconMap. The class implements the same methods than the interface "CPointPDF", and invoking them actually becomes a mapping into the methods of the current PDF representation of the beacon, selectable by means of "m_typePDF"

See also: CBeaconMap, CPointPDFSOG

Definition at line 35 of file CBeacon.h.

#include <mrpt/maps/CBeacon.h>

Inheritance diagram for mrpt::maps::CBeacon:

Public Types
enum	TTypePDF { pdfMonteCarlo = 0, pdfGauss, pdfSOG }
	See m_typePDF. More...

using	TBeaconID = int64_t
	The type for the IDs of landmarks. More...

enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPoint3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPoint3D, 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
void	getMean (mrpt::poses::CPoint3D &mean_point) 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	copyFrom (const mrpt::poses::CPointPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

bool	saveToTextFile (const std::string &file) const override
	Save PDF's particles to a text file. More...

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

void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const
	Saves a 3D representation of the beacon into a given OpenGL scene. More...

void	getAsMatlabDrawCommands (std::vector< std::string > &out_Str) const
	Gets a set of MATLAB commands which draw the current state of the beacon: More...

void	drawSingleSample (mrpt::poses::CPoint3D &outSample) const override
	Draw a sample from the pdf. More...

void	bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override
	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...

void	generateObservationModelDistribution (float sensedRange, mrpt::poses::CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const mrpt::poses::CPoint3D &sensorPntOnRobot, const mrpt::poses::CPoint3D &centerPoint=mrpt::poses::CPoint3D(0, 0, 0), float maxDistanceFromCenter=0) const
	Compute the observation model p(z_t\|x_t) for a given observation (range value), and return it as an approximate SOG. 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 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, CPoint3D &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 (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...

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	generateRingSOG (float sensedRange, mrpt::poses::CPointPDFSOG &outPDF, const CBeaconMap myBeaconMap, const mrpt::poses::CPoint3D &sensorPnt, const mrpt::math::CMatrixDouble33 covarianceCompositionToAdd=nullptr, bool clearPreviousContentsOutPDF=true, const mrpt::poses::CPoint3D &centerPoint=mrpt::poses::CPoint3D(0, 0, 0), float maxDistanceFromCenter=0)
	This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time. More...

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Public Attributes
TTypePDF	m_typePDF {pdfGauss}
	Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians. More...

mrpt::poses::CPointPDFParticles	m_locationMC {1}
	The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). More...

mrpt::poses::CPointPDFGaussian	m_locationGauss
	The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). More...

mrpt::poses::CPointPDFSOG	m_locationSOG {1}
	The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). More...

TBeaconID	m_ID {INVALID_BEACON_ID}
	An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. 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
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< mrpt::maps ::CBeacon >

using	ConstPtr = std::shared_ptr< const mrpt::maps ::CBeacon >

using	UniquePtr = std::unique_ptr< mrpt::maps ::CBeacon >

using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CBeacon >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "CBeacon"

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::maps::CBeacon::ConstPtr = std::shared_ptr<const mrpt::maps :: CBeacon >

Definition at line 37 of file CBeacon.h.

◆ ConstUniquePtr

using mrpt::maps::CBeacon::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CBeacon >

Definition at line 37 of file CBeacon.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , 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< CPoint3D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

using mrpt::maps::CBeacon::Ptr = std::shared_ptr< mrpt::maps :: CBeacon >

A type for the associated smart pointer

Definition at line 37 of file CBeacon.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint3D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ TBeaconID

using mrpt::maps::CBeacon::TBeaconID = int64_t

The type for the IDs of landmarks.

Definition at line 42 of file CBeacon.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::type_value = CPoint3D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::maps::CBeacon::UniquePtr = std::unique_ptr< mrpt::maps :: CBeacon >

Definition at line 37 of file CBeacon.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 64 of file CPointPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 69 of file CPointPDF.h.

◆ TTypePDF

enum mrpt::maps::CBeacon::TTypePDF

See m_typePDF.

Enumerator
pdfMonteCarlo
pdfGauss
pdfSOG

Definition at line 46 of file CBeacon.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ bayesianFusion() [1/2]

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

pure virtualinherited

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.

◆ bayesianFusion() [2/2]

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

override

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.

Definition at line 103 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CBeacon::changeCoordinatesReference ( const mrpt::poses::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::CPointPDF.

Definition at line 197 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CBeacon::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

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

overridevirtual

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

Implements mrpt::poses::CPointPDF.

Definition at line 151 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CBeacon::Create ( Args &&... args )

inlinestatic

Definition at line 37 of file CBeacon.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CBeacon::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 37 of file CBeacon.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CBeacon::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CBeacon::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 37 of file CBeacon.h.

◆ drawManySamples()

virtual void mrpt::math::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 151 of file CProbabilityDensityFunction.h.

◆ drawSingleSample() [1/2]

void CBeacon::drawSingleSample ( mrpt::poses::CPoint3D & outSample ) const

override

Draw a sample from the pdf.

Definition at line 128 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D & 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 204 of file CObject.h.

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

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

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◆ generateObservationModelDistribution()

void CBeacon::generateObservationModelDistribution	(	float	sensedRange,
		mrpt::poses::CPointPDFSOG &	outPDF,
		const CBeaconMap *	myBeaconMap,
		const mrpt::poses::CPoint3D &	sensorPntOnRobot,
		const mrpt::poses::CPoint3D &	centerPoint = `mrpt::poses::CPoint3D(0, 0, 0)`,
		float	maxDistanceFromCenter = `0`
	)		const

Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an approximate SOG.

Note that if the beacon is a SOG itself, the number of gaussian modes will be square. As a speed-up, if a "center point"+"maxDistanceFromCenter" is supplied (maxDistanceFromCenter!=0), those modes farther than this sphere will be discarded. Parameters such as the stdSigma of the sensor are gathered from "myBeaconMap" The result is one "ring" for each Gaussian mode that represent the beacon position in this object. The position of the sensor on the robot is used to shift the resulting densities such as they represent the position of the robot, not the sensor.

See also: CBeaconMap::insertionOptions, generateRingSOG

Definition at line 395 of file CBeacon.cpp.

References ASSERT_, mrpt::poses::CPointPDFSOG::clear(), generateRingSOG(), mrpt::poses::CPointPDFSOG::get(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, MRPT_END, MRPT_START, mrpt::poses::CPointPDFSOG::push_back(), mrpt::poses::CPointPDFSOG::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ generateRingSOG()

void CBeacon::generateRingSOG	(	float	sensedRange,
		mrpt::poses::CPointPDFSOG &	outPDF,
		const CBeaconMap *	myBeaconMap,
		const mrpt::poses::CPoint3D &	sensorPnt,
		const mrpt::math::CMatrixDouble33 *	covarianceCompositionToAdd = `nullptr`,
		bool	clearPreviousContentsOutPDF = `true`,
		const mrpt::poses::CPoint3D &	centerPoint = `mrpt::poses::CPoint3D(0, 0, 0)`,
		float	maxDistanceFromCenter = `0`
	)

static

This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time.

sensorPnt is the center of the ring/sphere, i.e. the absolute position of the range sensor. If clearPreviousContentsOutPDF=false, the SOG modes will be added to the current contents of outPDF If the 3x3 matrix covarianceCompositionToAdd is provided, it will be add to every Gaussian (to model the composition of uncertainty).

See also: generateObservationModelDistribution

Definition at line 457 of file CBeacon.cpp.

References ASSERT_, mrpt::poses::CPointPDFGaussian::cov, mrpt::DEG2RAD(), dir, mrpt::math::generateAxisBaseFromDirection(), mrpt::poses::CPointPDFSOG::get(), mrpt::maps::CBeaconMap::insertionOptions, mrpt::maps::CBeaconMap::likelihoodOptions, mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, M_2PIf, mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg, mrpt::poses::CPointPDFGaussian::mean, mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), R, mrpt::maps::CBeaconMap::TLikelihoodOptions::rangeStd, mrpt::poses::CPointPDFSOG::resize(), mrpt::poses::CPointPDFSOG::size(), mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians, mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant, mrpt::square(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by generateObservationModelDistribution(), and mrpt::maps::CBeaconMap::internal_insertObservation().

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◆ getAs3DObject() [1/3]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPointPDF::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 83 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/3]

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::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 94 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [3/3]

void CBeacon::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

Saves a 3D representation of the beacon into a given OpenGL scene.

Definition at line 220 of file CBeacon.cpp.

References mrpt::format(), MRPT_END, MRPT_START, THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getAsMatlabDrawCommands()

void CBeacon::getAsMatlabDrawCommands ( std::vector< std::string > & out_Str ) const

Gets a set of MATLAB commands which draw the current state of the beacon:

Definition at line 287 of file CBeacon.cpp.

References MRPT_END, MRPT_START, mrpt::system::os::sprintf(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getClassName()

static constexpr auto mrpt::maps::CBeacon::getClassName ( )

inlinestatic

Definition at line 37 of file CBeacon.h.

◆ getCovariance() [1/3]

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

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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< 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 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPoint3D &	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< CMatrixDouble33, CPoint3D > CBeacon::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< CPoint3D, 3 >.

Definition at line 83 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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< 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 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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< CPoint3D , 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 CBeacon::getMean ( mrpt::poses::CPoint3D & mean_point ) const

override

Definition at line 63 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getMeanVal()

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

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CBeacon::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

◆ GetRuntimeClassIdStatic()

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

static

◆ is_3D()

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

inlinestaticinherited

Definition at line 68 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_3D_val.

◆ is_PDF()

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

inlinestaticinherited

Definition at line 73 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::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 123 of file CProbabilityDensityFunction.h.

◆ saveToTextFile()

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

overridevirtual

Save PDF's particles to a text file.

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

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 174 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ serializeFrom() [1/2]

void CBeacon::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 43 of file CBeacon.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CBeacon::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 35 of file CBeacon.cpp.

◆ serializeTo() [1/2]

void CBeacon::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 36 of file CBeacon.cpp.

References out.

◆ 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

◆ className

constexpr const char* mrpt::maps::CBeacon::className = "mrpt::maps" "::" "CBeacon"

static

Definition at line 37 of file CBeacon.h.

◆ m_ID

TBeaconID mrpt::maps::CBeacon::m_ID {INVALID_BEACON_ID}

An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames.

Thus, the management of this field should be:

In 'servers' (classes/modules/... that detect landmarks from images): A different ID must be assigned to every landmark (e.g. a sequential counter), BUT only in the case of being sure of the correspondence of one landmark with another one in the past (e.g. tracking).
In 'clients': This field can be ignored, but if it is used, the advantage is solving the correspondence between landmarks detected in consequentive instants of time: Two landmarks with the same ID correspond to the same physical feature, BUT it should not be expected the inverse to be always true.

Note that this field is never fill out automatically, it must be set by the programmer if used.

Definition at line 91 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_locationGauss

mrpt::poses::CPointPDFGaussian mrpt::maps::CBeacon::m_locationGauss

The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon).

Definition at line 65 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_locationMC

mrpt::poses::CPointPDFParticles mrpt::maps::CBeacon::m_locationMC {1}

The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon).

Definition at line 62 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_locationSOG

mrpt::poses::CPointPDFSOG mrpt::maps::CBeacon::m_locationSOG {1}

The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon).

Definition at line 68 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_typePDF

TTypePDF mrpt::maps::CBeacon::m_typePDF {pdfGauss}

Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians.

See also: m_location

Definition at line 57 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CBeacon::runtimeClassId

staticprotected

Definition at line 37 of file CBeacon.h.

◆ state_length

constexpr size_t mrpt::math::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 32 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

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ Ptr

◆ self_t

◆ TBeaconID

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ TTypePDF

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion() [1/2]

◆ bayesianFusion() [2/2]

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ generateObservationModelDistribution()

◆ generateRingSOG()

◆ getAs3DObject() [1/3]

◆ getAs3DObject() [2/3]

◆ getAs3DObject() [3/3]

◆ getAsMatlabDrawCommands()

◆ 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()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ saveToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_ID

◆ m_locationGauss

◆ m_locationMC

◆ m_locationSOG

◆ m_typePDF

◆ runtimeClassId

◆ state_length