CPose3DQuatPDF.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 CPose3DQuatPDF_H
#define CPose3DQuatPDF_H

#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/math/CMatrixD.h>
#include <mrpt/utils/CProbabilityDensityFunction.h>

namespace mrpt
{
namespace poses
{
class CPosePDF;
class CPose3DPDF;

/** Declares a class that represents a Probability Density Function (PDF) of a
 * 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and
 * a quaternion [qr qx qy qz].
 *   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.
 *  - For a similar class for 3D poses  (with Euler angles instead of
 * quaternions), see CPose3DPDF.
 *
 *
 *  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 CPose3DQuatPDF, CPose3DPDF
 * \ingroup poses_pdf_grp
 */
class CPose3DQuatPDF
        : public mrpt::utils::CSerializable,
          public mrpt::utils::CProbabilityDensityFunction<CPose3DQuat, 7>
{
        DEFINE_VIRTUAL_SERIALIZABLE(CPose3DQuatPDF)

   public:
        /** Copy operator, translating if necesary (for example, between particles
         * and gaussian representations)
          * \sa createFrom2D
          */
        virtual void copyFrom(const CPose3DQuatPDF& 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
         * CPose3DQuatPDF. This object must be deleted by the user when not required
         * anymore.
          *  \sa copyFrom
          */
        static CPose3DQuatPDF* createFrom2D(const CPosePDF& o);

        /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
        virtual void inverse(CPose3DQuatPDF& o) const = 0;

        /** This static method computes the two Jacobians of a pose composition
         * operation $f(x,u)= x \oplus u$
          *  \param out_x_oplus_u If set to !=nullptr, the result of "x+u" will be
         * stored here (it will be computed internally anyway).
          *  To see the mathematical derivation of the formulas, refer to the
         * technical report here:
          *   -
         * http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations
          */
        static void jacobiansPoseComposition(
                const CPose3DQuat& x, const CPose3DQuat& u,
                mrpt::math::CMatrixDouble77& df_dx, mrpt::math::CMatrixDouble77& df_du,
                CPose3DQuat* out_x_oplus_u = nullptr);

        /** 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()
          */
        template <class OPENGL_SETOFOBJECTSPTR>
        inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR& out_obj) const
        {
                typedef typename OPENGL_SETOFOBJECTSPTR::value_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