CPosePDFGrid.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 CPosePDFGrid_H
#define CPosePDFGrid_H

#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPose2DGridTemplate.h>
#include <mrpt/utils/bits.h>  // DEG2RAD()

namespace mrpt
{
namespace poses
{
/** Declares a class that represents a Probability Distribution
 *    function (PDF) of a 2D pose (x,y,phi).
 *   This class implements that PDF using a 3D grid.
 *
 * \sa CPose2D, CPosePDF, CPose2DGridTemplate
 * \ingroup poses_pdf_grp
 */
class CPosePDFGrid : public CPosePDF, public CPose2DGridTemplate<double>
{
        DEFINE_SERIALIZABLE(CPosePDFGrid)

   protected:
   public:
        /** Constructor: Initializes a, uniform distribution over the whole given
         * range.
          */
        CPosePDFGrid(
                double xMin = -1.0f, double xMax = 1.0f, double yMin = -1.0f,
                double yMax = 1.0f, double resolutionXY = 0.5f,
                double resolutionPhi = mrpt::utils::DEG2RAD(180),
                double phiMin = -M_PIf, double phiMax = M_PIf);

        /** Destructor */
        virtual ~CPosePDFGrid();

        /** Copy operator, translating if necesary (for example, between particles
         * and gaussian representations) */
        void copyFrom(const CPosePDF& o) override;

        /** Normalizes the PDF, such as all cells sum the unity. */
        void normalize();
        /** Assigns the same value to all the cells in the grid, so the sum 1. */
        void uniformDistribution();
        /** Returns an estimate of the pose, (the mean, or mathematical expectation
         * of the PDF). \sa getCovariance */
        void getMean(CPose2D& mean_pose) const override;
        /** Returns an estimate of the pose covariance matrix (3x3 cov matrix) and
         * the mean, both at once. \sa getMean */
        void getCovarianceAndMean(
                mrpt::math::CMatrixDouble33& cov, CPose2D& mean_point) const override;
        /** Save the contents of the 3D grid in one file, as a vertical
         * concatenation of rectangular matrix for the different "PHI" discrete
         * levels, and the size in X,Y,and PHI in another file named
         * "<filename>_dims.txt" */
        void saveToTextFile(const std::string& dataFile) const override;

        /** 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. */
        void changeCoordinatesReference(const CPose3D& newReferenceBase) override;
        /** Bayesian fusion of 2 densities (In the grid representation this becomes
         * a pointwise multiplication) */
        void bayesianFusion(
                const CPosePDF& p1, const CPosePDF& p2,
                const double& minMahalanobisDistToDrop = 0) override;
        /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
        void inverse(CPosePDF& o) const override;
        /** Draws a single sample from the distribution (WARNING: weights are
         * assumed to be normalized!) */
        void drawSingleSample(CPose2D& outPart) const override;
        /** Draws a number of samples from the distribution, and saves as a list of
         * 1x3 vectors, where each row contains a (x,y,phi) datum. */
        void drawManySamples(
                size_t N,
                std::vector<mrpt::math::CVectorDouble>& outSamples) const override;

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