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 42 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...

typedef int64_t	TBeaconID
	The type for the IDs of landmarks. More...

enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

typedef CPoint3D	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPoint3D, STATE_LEN >	self_t

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CBeacon ()
	Default constructor. More...

virtual	~CBeacon ()
	Virtual destructor. More...

void	getMean (mrpt::poses::CPoint3D &mean_point) const override
	Returns an estimate of the point, (the mean, or mathematical expectation of the PDF). More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, mrpt::poses::CPoint3D &mean_point) const override
	Returns an estimate of the point covariance matrix (3x3 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...

void	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 (utils::CStringList &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 (const 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), const 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 (CPoint3D &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual void	getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint3D &mean_point) const=0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPoint3D	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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN >	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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static void	generateRingSOG (const 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), const 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 bool	is_3D ()

static bool	is_PDF ()

Public Attributes
TTypePDF	m_typePDF
	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
	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
	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
	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 const 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
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
using	Ptr = std::shared_ptr< CBeacon >

using	ConstPtr = std::shared_ptr< const CBeacon >

static mrpt::utils::CLASSINIT	_init_CBeacon

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CBeacon"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::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 CBeacon >

Definition at line 44 of file CBeacon.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 44 of file CBeacon.h.

◆ self_t

typedef CProbabilityDensityFunction<CPoint3D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t

inherited

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ TBeaconID

typedef int64_t mrpt::maps::CBeacon::TBeaconID

The type for the IDs of landmarks.

Definition at line 49 of file CBeacon.h.

◆ type_value

typedef CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::type_value

inherited

The type of the state the PDF represents.

Definition at line 36 of file CProbabilityDensityFunction.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 53 of file CBeacon.h.

Constructor & Destructor Documentation

◆ CBeacon()

CBeacon::CBeacon ( )

Default constructor.

Definition at line 38 of file CBeacon.cpp.

◆ ~CBeacon()

CBeacon::~CBeacon ( )

virtual

Virtual destructor.

Definition at line 50 of file CBeacon.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::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 139 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::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 233 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::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 187 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 44 of file CBeacon.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::CBeacon::CreateObject ( )

static

◆ drawManySamples()

virtual void mrpt::utils::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 154 of file CProbabilityDensityFunction.h.

◆ drawSingleSample() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

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

override

Draw a sample from the pdf.

Definition at line 164 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ generateObservationModelDistribution()

void CBeacon::generateObservationModelDistribution	(	const 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)`,
		const 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 434 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::CPointPDFSOG::TGaussianMode::val, val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ generateRingSOG()

void CBeacon::generateRingSOG	(	const 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)`,
		const 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 496 of file CBeacon.cpp.

References ASSERT_, mrpt::poses::CPointPDFGaussian::cov, DEG2RAD, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), 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, 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::math::square(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 256 of file CBeacon.cpp.

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

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◆ getAsMatlabDrawCommands()

void CBeacon::getAsMatlabDrawCommands ( utils::CStringList & out_Str ) const

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

Definition at line 324 of file CBeacon.cpp.

References mrpt::utils::CStringList::add(), mrpt::utils::CStringList::clear(), MRPT_END, MRPT_START, mrpt::system::os::sprintf(), THROW_EXCEPTION, val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ getCovariance() [1/3]

void mrpt::utils::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 81 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & 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 91 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::utils::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 104 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPoint3D &	mean_point
	)		const

pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

◆ getCovarianceAndMean() [2/2]

void CBeacon::getCovarianceAndMean	(	mrpt::math::CMatrixDouble33 &	cov,
		mrpt::poses::CPoint3D &	mean_point
	)		const

override

Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 116 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPoint3D &	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 57 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::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 178 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & 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 127 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( CPoint3D & 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

Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).

See also: getCovariance

Definition at line 93 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getMeanVal()

CPoint3D mrpt::utils::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 70 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::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::utils::TRuntimeClassId& mrpt::maps::CBeacon::GetRuntimeClassIdStatic ( )

static

◆ is_3D()

static 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 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::utils::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 120 of file CProbabilityDensityFunction.h.

◆ operator delete() [1/3]

void mrpt::maps::CBeacon::operator delete ( void * ptr )

inlinenoexcept

Definition at line 44 of file CBeacon.h.

◆ operator delete() [2/3]

void mrpt::maps::CBeacon::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 44 of file CBeacon.h.

◆ operator delete() [3/3]

void mrpt::maps::CBeacon::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 44 of file CBeacon.h.

◆ operator delete[]()

void mrpt::maps::CBeacon::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 44 of file CBeacon.h.

◆ operator new() [1/3]

static void* mrpt::maps::CBeacon::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 44 of file CBeacon.h.

◆ operator new() [2/3]

void* mrpt::maps::CBeacon::operator new ( size_t size )

inline

Definition at line 44 of file CBeacon.h.

◆ operator new() [3/3]

void* mrpt::maps::CBeacon::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 44 of file CBeacon.h.

◆ operator new[]()

void* mrpt::maps::CBeacon::operator new[] ( size_t size )

inline

Definition at line 44 of file CBeacon.h.

◆ readFromStream()

void CBeacon::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 73 of file CBeacon.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ saveToTextFile()

void 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::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 210 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

void CBeacon::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 56 of file CBeacon.cpp.

Member Data Documentation

◆ _init_CBeacon

mrpt::utils::CLASSINIT mrpt::maps::CBeacon::_init_CBeacon

staticprotected

Definition at line 44 of file CBeacon.h.

◆ className

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

static

Definition at line 44 of file CBeacon.h.

◆ m_ID

TBeaconID mrpt::maps::CBeacon::m_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 98 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 72 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

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 69 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

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 75 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

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 64 of file CBeacon.h.

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

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::CBeacon::runtimeClassId

staticprotected

Definition at line 44 of file CBeacon.h.

◆ state_length

const size_t mrpt::utils::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 34 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

◆ Ptr

◆ self_t

◆ TBeaconID

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ TTypePDF

Constructor & Destructor Documentation

◆ CBeacon()

◆ ~CBeacon()

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion() [1/2]

◆ bayesianFusion() [2/2]

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateObject()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ generateObservationModelDistribution()

◆ generateRingSOG()

◆ getAs3DObject() [1/3]

◆ getAs3DObject() [2/3]

◆ getAs3DObject() [3/3]

◆ getAsMatlabDrawCommands()

◆ 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()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ saveToTextFile()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CBeacon

◆ className

◆ m_ID

◆ m_locationGauss

◆ m_locationMC

◆ m_locationSOG

◆ m_typePDF

◆ runtimeClassId

◆ state_length