CPose3DPDF.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CPose3DPDF_H
#define CPose3DPDF_H

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

namespace mrpt
{
namespace 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::utils::CSerializable,
                                   public mrpt::utils::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)
          *  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);

        /** 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 inline bool is_3D() { return is_3D_val != 0; }
        enum
        {
                is_PDF_val = 1
        };
        static inline 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
        {
                typedef typename OPENGL_SETOFOBJECTSPTR::element_type SETOFOBJECTS;
                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
        {
                typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
                return SETOFOBJECTS::posePDF2opengl(*this);
        }

};  // End of class def.
}  // End of namespace
}  // End of namespace

#endif