Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y).
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 6D poses (a 3D point with attitude), see CPose3DPDF
See also the tutorial on probabilistic spatial representations in the MRPT.
- See also
- CPoint2D, CPointPDF
Definition at line 37 of file CPoint2DPDF.h.
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| virtual void | copyFrom (const CPoint2DPDF &o)=0 |
| | Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
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| virtual void | bayesianFusion (const CPoint2DPDF &p1, const CPoint2DPDF &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...
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| 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...
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| virtual CObject * | clone () const =0 |
| | Returns a deep copy (clone) of the object, indepently of its class. More...
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| virtual void | getMean (CPoint2D &mean_point) const=0 |
| | Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
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| virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint2D &mean_point) const=0 |
| | Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
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| void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint2D &mean_point) const |
| | Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
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| CPoint2D | getMeanVal () const |
| | Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
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| void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
| | Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
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| 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...
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| 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...
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| virtual bool | isInfType () const |
| | Returns whether the class instance holds the uncertainty in covariance or information form. More...
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| 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...
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| virtual void | saveToTextFile (const std::string &file) const=0 |
| | Save PDF's particles to a text file. More...
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| virtual void | drawSingleSample (CPoint2D &outPart) const=0 |
| | Draws a single sample from the distribution. More...
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| 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...
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| virtual void | changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0 |
| | this = p (+) this. More...
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| double | getCovarianceEntropy () const |
| | Compute the entropy of the estimated covariance matrix. More...
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| 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...
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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.
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protectedpure virtualinherited |
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
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| 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
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| std::exception | On any error, see CStream::ReadBuffer |
- See also
- CStream
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.
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protectedpure virtualinherited |
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
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| std::exception | On any error, see CStream::WriteBuffer |
- See also
- CStream
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.
Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().
