mrpt::poses::CPose3DPDFGrid Class Reference

Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a SE(3) pose (x,y,z, yaw, pitch, roll), in the form of a 6-dimensional grid of "voxels".

See also

CPose3D, CPose3DPDF, CPose3DGridTemplate

Definition at line 25 of file CPose3DPDFGrid.h.

#include <mrpt/poses/CPose3DPDFGrid.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGrid:

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
	CPose3DPDFGrid (const mrpt::math::TPose3D &bb_min=mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 *M_PI, -.5 *M_PI), const mrpt::math::TPose3D &bb_max=mrpt::math::TPose3D(1., 1., 1., M_PI,.5 *M_PI,.5 *M_PI), double resolution_XYZ=0.10, double resolution_YPR=mrpt::DEG2RAD(10.0))
	Constructor: Initializes a, uniform distribution over the whole given range, given by a "rectangular" (6D) bounding box. More...
	~CPose3DPDFGrid () override=default
	Destructor. More...
void	copyFrom (const CPose3DPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
void	normalize ()
	Normalizes the PDF, such as all voxels sum the unity. More...
void	uniformDistribution ()
	Assigns the same value to all the cells in the grid, so the sum 1. More...
void	getMean (CPose3D &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...
bool	saveToTextFile (const std::string &dataFile) const override
	Save the contents of the 3D grid in one file, as a concatenation of (X,Y) slices. More...
void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	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) More...
void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. 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,z,yaw,pitch,roll) datum. 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...
void	setSize (const mrpt::math::TPose3D &bb_min, const mrpt::math::TPose3D &bb_max, double resolution_XYZ, double resolution_YPR)
	Changes the limits and size of the grid, erasing previous contents: More...
const double *	getByPos (double x, double y, double z, double yaw, double pitch, double roll) const
	Reads the contents of a cell. More...
double *	getByPos (double x, double y, double z, double yaw, double pitch, double roll)
const double *	getByPos (const mrpt::math::TPose3D &p) const
double *	getByPos (const mrpt::math::TPose3D &p)
const double *	getByIndex (int cx, int cy, int cz, int cY, int cP, int cR) const
	Reads the contents of a cell. More...
double *	getByIndex (int cx, int cy, int cz, int cY, int cP, int cR)
void	getAsMatrix (MATRIXLIKE &outMat, const double z, const double yaw, const double pitch, const double roll) const
	Returns a XY slice of the grid, for given constant z,yaw, pitch and roll. More...
mrpt::math::TPose3D	getMinBoundingBox () const
	Get info about the 6D grid. More...
mrpt::math::TPose3D	getMaxBoundingBox () const
double	getResolutionXYZ () const
double	getResolutionAngles () const
void	fill (const double &val)
auto	getSizeX () const
auto	getSizeY () const
auto	getSizeZ () const
auto	getSizeYaw () const
auto	getSizePitch () const
auto	getSizeRoll () const
auto	getTotalVoxelCount () const
const std::vector< double > &	getData () const
std::vector< double > &	getData ()
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...
Return "indexes" from coordinates
int	x2idx (double x) const
int	y2idx (double y) const
int	z2idx (double z) const
int	yaw2idx (double yaw) const
int	pitch2idx (double pitch) const
int	roll2idx (double roll) const
Return coordinates from "indexes"
double	idx2x (uint32_t cx) const
double	idx2y (uint32_t cy) const
double	idx2z (uint32_t cz) const
double	idx2yaw (uint32_t cY) const
double	idx2pitch (uint32_t cP) const
double	idx2roll (uint32_t cR) const

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 ()

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 Types
using	self_t = CPose3DGridTemplate< double >

Protected Member Functions
void	update_cached_size_products ()
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
mrpt::math::TPose3D	m_bb_min
mrpt::math::TPose3D	m_bb_max
double	m_resolutionXYZ
	Resolution of the grid. More...
double	m_resolutionYPR
uint32_t	m_sizeX
uint32_t	m_sizeY
uint32_t	m_sizeZ
uint32_t	m_sizeYaw
uint32_t	m_sizePitch
uint32_t	m_sizeRoll
uint32_t	m_size_xy
uint32_t	m_size_xyz
uint32_t	m_size_xyzY
uint32_t	m_size_xyzYP
uint32_t	m_size_xyzYPR
int	m_min_cidX
	Minimum "cell indexes" for each coordinate. More...
int	m_min_cidY
int	m_min_cidZ
int	m_min_cidYaw
int	m_min_cidPitch
int	m_min_cidRoll
std::vector< double >	m_data
	The data. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPose3DPDFGrid >
using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DPDFGrid >
using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DPDFGrid >
using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DPDFGrid >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::poses" "::" "CPose3DPDFGrid"
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::CPose3DPDFGrid::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DPDFGrid >

Definition at line 27 of file CPose3DPDFGrid.h.

ConstUniquePtr

using mrpt::poses::CPose3DPDFGrid::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DPDFGrid >

Definition at line 27 of file CPose3DPDFGrid.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::CPose3DPDFGrid::Ptr = std::shared_ptr< mrpt::poses :: CPose3DPDFGrid >

A type for the associated smart pointer

Definition at line 27 of file CPose3DPDFGrid.h.

self_t [1/2]

using mrpt::poses::CPose3DGridTemplate< double >::self_t = CPose3DGridTemplate<double >

protectedinherited

Definition at line 26 of file CPose3DGridTemplate.h.

self_t [2/2]

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::CPose3DPDFGrid::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DPDFGrid >

Definition at line 27 of file CPose3DPDFGrid.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

CPose3DPDFGrid()

CPose3DPDFGrid::CPose3DPDFGrid	(	const mrpt::math::TPose3D &	bb_min = mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 * M_PI, -.5 * M_PI),
		const mrpt::math::TPose3D &	bb_max = mrpt::math::TPose3D(1., 1., 1., M_PI, .5 * M_PI, .5 * M_PI),
		double	resolution_XYZ = 0.10,
		double	resolution_YPR = mrpt::DEG2RAD(10.0)
	)

Constructor: Initializes a, uniform distribution over the whole given range, given by a "rectangular" (6D) bounding box.

Definition at line 29 of file CPose3DPDFGrid.cpp.

~CPose3DPDFGrid()

mrpt::poses::CPose3DPDFGrid::~CPose3DPDFGrid ( )

overridedefault

Destructor.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGrid::_GetBaseClass ( )

staticprotected

bayesianFusion()

void CPose3DPDFGrid::bayesianFusion ( const CPose3DPDF &  p1, const CPose3DPDF &  p2  )

overridevirtual

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)

Implements mrpt::poses::CPose3DPDF.

Definition at line 158 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

changeCoordinatesReference()

void CPose3DPDFGrid::changeCoordinatesReference ( const CPose3D &  newReferenceBase )

overridevirtual

Implements mrpt::poses::CPose3DPDF.

Definition at line 152 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFGrid::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

copyFrom()

void CPose3DPDFGrid::copyFrom ( const CPose3DPDF &  o )

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 38 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFGrid::Create ( Args &&...  args )

inlinestatic

Definition at line 27 of file CPose3DPDFGrid.h.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose3DPDFGrid::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 27 of file CPose3DPDFGrid.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::CPose3DPDFGrid::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DPDFGrid::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 27 of file CPose3DPDFGrid.h.

drawManySamples()

void CPose3DPDFGrid::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,z,yaw,pitch,roll) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 175 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

drawSingleSample() [1/2]

void CPose3DPDFGrid::drawSingleSample ( CPose3D &  outPart ) const

override

Draws a single sample from the distribution.

Note

Precondition: voxel weights are assumed to be normalized.

Definition at line 170 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

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 204 of file CObject.h.

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

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

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fill()

void mrpt::poses::CPose3DGridTemplate< double >::fill ( const double &  val )

inlineinherited

Definition at line 281 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_data, and val.

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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getAsMatrix()

void mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix ( MATRIXLIKE &  outMat, const double  z, const double  yaw, const double  pitch, const double  roll  ) const

inlineinherited

Returns a XY slice of the grid, for given constant z,yaw, pitch and roll.

Definition at line 256 of file CPose3DGridTemplate.h.

References ASSERT_BELOW_, mrpt::poses::CPose3DGridTemplate< T >::getByIndex(), mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch, mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll, mrpt::poses::CPose3DGridTemplate< T >::m_sizeX, mrpt::poses::CPose3DGridTemplate< T >::m_sizeY, mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw, mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ, MRPT_END, MRPT_START, mrpt::obs::gnss::pitch, mrpt::poses::CPose3DGridTemplate< T >::pitch2idx(), mrpt::obs::gnss::roll, mrpt::poses::CPose3DGridTemplate< T >::roll2idx(), mrpt::poses::CPose3DGridTemplate< T >::yaw2idx(), and mrpt::poses::CPose3DGridTemplate< T >::z2idx().

getByIndex() [1/2]

const double * mrpt::poses::CPose3DGridTemplate< double >::getByIndex ( int  cx, int  cy, int  cz, int  cY, int  cP, int  cR  ) const

inlineinherited

Reads the contents of a cell.

Definition at line 233 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_data, mrpt::poses::CPose3DGridTemplate< T >::m_size_xy, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyz, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzY, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzYP, mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch, mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll, mrpt::poses::CPose3DGridTemplate< T >::m_sizeX, mrpt::poses::CPose3DGridTemplate< T >::m_sizeY, mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw, and mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ.

getByIndex() [2/2]

double * mrpt::poses::CPose3DGridTemplate< double >::getByIndex ( int  cx, int  cy, int  cz, int  cY, int  cP, int  cR  )

inlineinherited

Definition at line 246 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::getByIndex().

getByPos() [1/4]

const double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll  ) const

inlineinherited

Reads the contents of a cell.

Definition at line 206 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::getByIndex(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DGridTemplate< T >::pitch2idx(), mrpt::obs::gnss::roll, mrpt::poses::CPose3DGridTemplate< T >::roll2idx(), mrpt::poses::CPose3DGridTemplate< T >::x2idx(), mrpt::poses::CPose3DGridTemplate< T >::y2idx(), mrpt::poses::CPose3DGridTemplate< T >::yaw2idx(), and mrpt::poses::CPose3DGridTemplate< T >::z2idx().

getByPos() [2/4]

double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll  )

inlineinherited

Definition at line 215 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::getByPos(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

getByPos() [3/4]

const double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( const mrpt::math::TPose3D &  p ) const

inlineinherited

Definition at line 222 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::getByPos(), mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

getByPos() [4/4]

double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( const mrpt::math::TPose3D &  p )

inlineinherited

Definition at line 227 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::getByPos(), mrpt::math::TPose3D::pitch, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, and mrpt::math::TPose3D::z.

getClassName()

static constexpr auto mrpt::poses::CPose3DPDFGrid::getClassName ( )

inlinestatic

Definition at line 27 of file CPose3DPDFGrid.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< CMatrixDouble66, CPose3D > CPose3DPDFGrid::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< CPose3D, 6 >.

Definition at line 68 of file CPose3DPDFGrid.cpp.

References mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, and mrpt::poses::CPose3DPDFParticles::resetDeterministic().

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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.

getData() [1/2]

const std::vector<double >& mrpt::poses::CPose3DGridTemplate< double >::getData ( ) const

inlineinherited

Definition at line 295 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_data.

getData() [2/2]

std::vector<double >& mrpt::poses::CPose3DGridTemplate< double >::getData ( )

inlineinherited

Definition at line 296 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_data.

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.

getMaxBoundingBox()

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::getMaxBoundingBox ( ) const

inlineinherited

Definition at line 276 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_bb_max.

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 CPose3DPDFGrid::getMean ( CPose3D &  mean_pose ) const

override

Definition at line 45 of file CPose3DPDFGrid.cpp.

References mrpt::poses::SE_average< 3 >::append(), and mrpt::poses::SE_average< 3 >::get_average().

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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.

getMinBoundingBox()

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::getMinBoundingBox ( ) const

inlineinherited

Get info about the 6D grid.

Definition at line 275 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_bb_min.

getResolutionAngles()

double mrpt::poses::CPose3DGridTemplate< double >::getResolutionAngles ( ) const

inlineinherited

Definition at line 279 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR.

getResolutionXYZ()

double mrpt::poses::CPose3DGridTemplate< double >::getResolutionXYZ ( ) const

inlineinherited

Definition at line 278 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGrid::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::CPose3DPDFGrid::GetRuntimeClassIdStatic ( )

static

getSizePitch()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizePitch ( ) const

inlineinherited

Definition at line 290 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch.

getSizeRoll()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeRoll ( ) const

inlineinherited

Definition at line 291 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll.

getSizeX()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeX ( ) const

inlineinherited

Definition at line 286 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_sizeX.

getSizeY()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeY ( ) const

inlineinherited

Definition at line 287 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_sizeY.

getSizeYaw()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeYaw ( ) const

inlineinherited

Definition at line 289 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw.

getSizeZ()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeZ ( ) const

inlineinherited

Definition at line 288 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ.

getTotalVoxelCount()

auto mrpt::poses::CPose3DGridTemplate< double >::getTotalVoxelCount ( ) const

inlineinherited

Definition at line 293 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzYPR.

idx2pitch()

double mrpt::poses::CPose3DGridTemplate< double >::idx2pitch ( uint32_t  cP ) const

inlineinherited

Definition at line 147 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch, and mrpt::math::TPose3D::pitch.

idx2roll()

double mrpt::poses::CPose3DGridTemplate< double >::idx2roll ( uint32_t  cR ) const

inlineinherited

Definition at line 152 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll, and mrpt::math::TPose3D::roll.

idx2x()

double mrpt::poses::CPose3DGridTemplate< double >::idx2x ( uint32_t  cx ) const

inlineinherited

Definition at line 126 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_sizeX, and mrpt::math::TPose3D::x.

idx2y()

double mrpt::poses::CPose3DGridTemplate< double >::idx2y ( uint32_t  cy ) const

inlineinherited

Definition at line 131 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_sizeY, and mrpt::math::TPose3D::y.

idx2yaw()

double mrpt::poses::CPose3DGridTemplate< double >::idx2yaw ( uint32_t  cY ) const

inlineinherited

Definition at line 142 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw, and mrpt::math::TPose3D::yaw.

idx2z()

double mrpt::poses::CPose3DGridTemplate< double >::idx2z ( uint32_t  cz ) const

inlineinherited

Definition at line 136 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ, and mrpt::math::TPose3D::z.

inverse()

void CPose3DPDFGrid::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 165 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

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 mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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normalize()

void CPose3DPDFGrid::normalize

(

)

Normalizes the PDF, such as all voxels sum the unity.

Definition at line 182 of file CPose3DPDFGrid.cpp.

pitch2idx()

int mrpt::poses::CPose3DGridTemplate< double >::pitch2idx ( double  pitch ) const

inlineinherited

Definition at line 109 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch, mrpt::math::TPose3D::pitch, mrpt::obs::gnss::pitch, and mrpt::round().

roll2idx()

int mrpt::poses::CPose3DGridTemplate< double >::roll2idx ( double  roll ) const

inlineinherited

Definition at line 115 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll, mrpt::math::TPose3D::roll, mrpt::obs::gnss::roll, and mrpt::round().

saveToTextFile()

bool CPose3DPDFGrid::saveToTextFile ( const std::string &  dataFile ) const

overridevirtual

Save the contents of the 3D grid in one file, as a concatenation of (X,Y) slices.

The size in X,Y,and the values for Z,yaw, pitch, roll, PHI are stored in another file named <filename>_dims.txt

Returns

false on error

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

Definition at line 145 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

serializeFrom() [1/2]

void CPose3DPDFGrid::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 113 of file CPose3DPDFGrid.cpp.

References ASSERT_EQUAL_, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadAs().

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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 CPose3DPDFGrid::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 94 of file CPose3DPDFGrid.cpp.

serializeTo() [1/2]

void CPose3DPDFGrid::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 95 of file CPose3DPDFGrid.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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setSize()

void mrpt::poses::CPose3DGridTemplate< double >::setSize ( const mrpt::math::TPose3D &  bb_min, const mrpt::math::TPose3D &  bb_max, double  resolution_XYZ, double  resolution_YPR  )

inlineinherited

Changes the limits and size of the grid, erasing previous contents:

Definition at line 162 of file CPose3DGridTemplate.h.

References ASSERT_ABOVE_, bb_max, bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_bb_max, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_data, mrpt::poses::CPose3DGridTemplate< T >::m_min_cidPitch, mrpt::poses::CPose3DGridTemplate< T >::m_min_cidRoll, mrpt::poses::CPose3DGridTemplate< T >::m_min_cidX, mrpt::poses::CPose3DGridTemplate< T >::m_min_cidY, mrpt::poses::CPose3DGridTemplate< T >::m_min_cidYaw, mrpt::poses::CPose3DGridTemplate< T >::m_min_cidZ, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch, mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll, mrpt::poses::CPose3DGridTemplate< T >::m_sizeX, mrpt::poses::CPose3DGridTemplate< T >::m_sizeY, mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw, mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ, mrpt::round(), and mrpt::poses::CPose3DGridTemplate< T >::update_cached_size_products().

uniformDistribution()

void CPose3DPDFGrid::uniformDistribution

(

)

Assigns the same value to all the cells in the grid, so the sum 1.

Definition at line 196 of file CPose3DPDFGrid.cpp.

References val.

update_cached_size_products()

void mrpt::poses::CPose3DGridTemplate< double >::update_cached_size_products ( )

inlineprotectedinherited

Definition at line 40 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_size_xy, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyz, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzY, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzYP, mrpt::poses::CPose3DGridTemplate< T >::m_size_xyzYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizePitch, mrpt::poses::CPose3DGridTemplate< T >::m_sizeRoll, mrpt::poses::CPose3DGridTemplate< T >::m_sizeX, mrpt::poses::CPose3DGridTemplate< T >::m_sizeY, mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw, and mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ.

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.

x2idx()

int mrpt::poses::CPose3DGridTemplate< double >::x2idx ( double  x ) const

inlineinherited

Definition at line 85 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_sizeX, mrpt::round(), and mrpt::math::TPose3D::x.

y2idx()

int mrpt::poses::CPose3DGridTemplate< double >::y2idx ( double  y ) const

inlineinherited

Definition at line 91 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_sizeY, mrpt::round(), and mrpt::math::TPose3D::y.

yaw2idx()

int mrpt::poses::CPose3DGridTemplate< double >::yaw2idx ( double  yaw ) const

inlineinherited

Definition at line 103 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionYPR, mrpt::poses::CPose3DGridTemplate< T >::m_sizeYaw, mrpt::round(), and mrpt::math::TPose3D::yaw.

z2idx()

int mrpt::poses::CPose3DGridTemplate< double >::z2idx ( double  z ) const

inlineinherited

Definition at line 97 of file CPose3DGridTemplate.h.

References ASSERT_, mrpt::poses::CPose3DGridTemplate< T >::m_bb_min, mrpt::poses::CPose3DGridTemplate< T >::m_resolutionXYZ, mrpt::poses::CPose3DGridTemplate< T >::m_sizeZ, mrpt::round(), and mrpt::math::TPose3D::z.

Member Data Documentation

className

constexpr const char* mrpt::poses::CPose3DPDFGrid::className = "mrpt::poses" "::" "CPose3DPDFGrid"

static

Definition at line 27 of file CPose3DPDFGrid.h.

m_bb_max

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::m_bb_max

protectedinherited

Definition at line 29 of file CPose3DGridTemplate.h.

m_bb_min

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::m_bb_min

protectedinherited

Definition at line 28 of file CPose3DGridTemplate.h.

m_data

std::vector<double > mrpt::poses::CPose3DGridTemplate< double >::m_data

protectedinherited

The data.

Stored in this order:

m_data[ ci_x

• size_x * ci_y
• size_xy * ci_z
• size_xyz * ci_yaw
• size_xyzy * ci_pitch
• size_xyzyp * ci_roll ]

Definition at line 64 of file CPose3DGridTemplate.h.

m_min_cidPitch

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidPitch

protectedinherited

Definition at line 51 of file CPose3DGridTemplate.h.

m_min_cidRoll

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidRoll

protectedinherited

Definition at line 51 of file CPose3DGridTemplate.h.

m_min_cidX

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidX

protectedinherited

Minimum "cell indexes" for each coordinate.

Definition at line 50 of file CPose3DGridTemplate.h.

m_min_cidY

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidY

protectedinherited

Definition at line 50 of file CPose3DGridTemplate.h.

m_min_cidYaw

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidYaw

protectedinherited

Definition at line 51 of file CPose3DGridTemplate.h.

m_min_cidZ

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidZ

protectedinherited

Definition at line 50 of file CPose3DGridTemplate.h.

m_resolutionXYZ

double mrpt::poses::CPose3DGridTemplate< double >::m_resolutionXYZ

protectedinherited

Resolution of the grid.

Definition at line 32 of file CPose3DGridTemplate.h.

m_resolutionYPR

double mrpt::poses::CPose3DGridTemplate< double >::m_resolutionYPR

protectedinherited

Definition at line 32 of file CPose3DGridTemplate.h.

m_size_xy

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xy

protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

m_size_xyz

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyz

protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

m_size_xyzY

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyzY

protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

m_size_xyzYP

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyzYP

protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

m_size_xyzYPR

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyzYPR

protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

m_sizePitch

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizePitch

protectedinherited

Definition at line 35 of file CPose3DGridTemplate.h.

m_sizeRoll

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeRoll

protectedinherited

Definition at line 35 of file CPose3DGridTemplate.h.

m_sizeX

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeX

protectedinherited

Definition at line 34 of file CPose3DGridTemplate.h.

m_sizeY

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeY

protectedinherited

Definition at line 34 of file CPose3DGridTemplate.h.

m_sizeYaw

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeYaw

protectedinherited

Definition at line 35 of file CPose3DGridTemplate.h.

m_sizeZ

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeZ

protectedinherited

Definition at line 34 of file CPose3DGridTemplate.h.

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFGrid::runtimeClassId

staticprotected

Definition at line 27 of file CPose3DPDFGrid.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.