Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.

Uncertainty of pose composition operations ( $y = x \oplus u$ ) is implemented in the method "CPose3DPDFGaussian::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also: CPose3D, CPose3DPDF, CPose3DPDFParticles

Definition at line 40 of file CPose3DPDFGaussian.h.

#include <mrpt/poses/CPose3DPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussian:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

typedef CPose3D	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPose3D, 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

	CPose3DPDFGaussian ()
	Default constructor. More...

	CPose3DPDFGaussian (const CPose3D &init_Mean)
	Constructor. More...

	CPose3DPDFGaussian (TConstructorFlags_Poses constructor_dummy_param)
	Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. More...

	CPose3DPDFGaussian (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_Cov)
	Constructor. More...

	CPose3DPDFGaussian (const CPosePDFGaussian &o)
	Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). More...

	CPose3DPDFGaussian (const CPose3DQuatPDFGaussian &o)
	Constructor from a 6D pose PDF described as a Quaternion. More...

const CPose3D &	getPoseMean () const

CPose3D &	getPoseMean ()

void	getMean (CPose3D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble66 &out_cov, CPose3D &mean_point) const override
	Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. More...

void	asString (std::string &s) const

std::string	asString () const

void	copyFrom (const CPose3DPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

void	copyFrom (const CPosePDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

void	copyFrom (const CPose3DQuatPDFGaussian &o)
	Copy from a 6D pose PDF described as a Quaternion. More...

void	saveToTextFile (const std::string &file) const override
	Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. More...

void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
	this = p (+) this. More...

void	drawSingleSample (CPose3D &outPart) const override
	Draws a single sample from the distribution. More...

void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
	Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum. More...

void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	Bayesian fusion of two points gauss. More...

void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

CPose3DPDFGaussian	operator- () const
	Unary - operator, returns the PDF of the inverse pose. More...

void	operator+= (const CPose3D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

void	operator+= (const CPose3DPDFGaussian &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

void	operator-= (const CPose3DPDFGaussian &Ap)
	Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More...

double	evaluatePDF (const CPose3D &x) const
	Evaluates the PDF at a given point. More...

double	evaluateNormalizedPDF (const CPose3D &x) const
	Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...

double	mahalanobisDistanceTo (const CPose3DPDFGaussian &theOther)
	Computes the Mahalanobis distance between the centers of two Gaussians. More...

void	getCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const
	Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. 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 >
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 (CPose3D &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, CPose3D &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, CPose3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose3D	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 (CPose3D &outPart) const=0
	Draws a single sample from the distribution. 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 CPose3DPDF *	createFrom2D (const CPosePDF &o)
	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. More...

static void	jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
	This static method computes the pose composition Jacobians. More...

static bool	is_3D ()

static bool	is_PDF ()

Public Attributes
CPose3D	mean
	The mean value. More...

mrpt::math::CMatrixDouble66	cov
	The 6x6 covariance matrix. 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
void	assureSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More...

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< CPose3DPDFGaussian >

using	ConstPtr = std::shared_ptr< const CPose3DPDFGaussian >

static mrpt::utils::CLASSINIT	_init_CPose3DPDFGaussian

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DPDFGaussian"

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::poses::CPose3DPDFGaussian::ConstPtr = std::shared_ptr<const CPose3DPDFGaussian >

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ Ptr

using mrpt::poses::CPose3DPDFGaussian::Ptr = std::shared_ptr< CPose3DPDFGaussian >

A typedef for the associated smart pointer

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ self_t

typedef CProbabilityDensityFunction<CPose3D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t

inherited

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , 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 98 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 103 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( )

Default constructor.

Definition at line 48 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [2/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3D & init_Mean )

explicit

Constructor.

Definition at line 88 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [3/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( TConstructorFlags_Poses constructor_dummy_param )

Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.

Definition at line 52 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM.

◆ CPose3DPDFGaussian() [4/6]

CPose3DPDFGaussian::CPose3DPDFGaussian	(	const CPose3D &	init_Mean,
		const mrpt::math::CMatrixDouble66 &	init_Cov
	)

Constructor.

Definition at line 62 of file CPose3DPDFGaussian.cpp.

◆ CPose3DPDFGaussian() [5/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPosePDFGaussian & o )

explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).

Definition at line 71 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::cov, and cov.

◆ CPose3DPDFGaussian() [6/6]

CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3DQuatPDFGaussian & o )

explicit

Constructor from a 6D pose PDF described as a Quaternion.

Definition at line 121 of file CPose3DPDFGaussian.cpp.

References copyFrom().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::_GetBaseClass ( )

staticprotected

◆ asString() [1/2]

void CPose3DPDFGaussian::asString ( std::string & s ) const

Definition at line 130 of file CPose3DPDFGaussian.cpp.

◆ asString() [2/2]

std::string mrpt::poses::CPose3DPDFGaussian::asString ( ) const

inline

Definition at line 105 of file CPose3DPDFGaussian.h.

◆ assureSymmetry()

void CPose3DPDFGaussian::assureSymmetry ( )

protected

Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)

Definition at line 593 of file CPose3DPDFGaussian.cpp.

References cov.

◆ bayesianFusion()

void CPose3DPDFGaussian::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtual

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

(x1,S1): Mean and variance of the p1 distribution.
(x2,S2): Mean and variance of the p2 distribution.
(x,S): Mean and variance of the resulting distribution.

S = (S1^-1 + S2^-1)^-1; x = S * ( S1^-1*x1 + S2^-1*x2 );

Implements mrpt::poses::CPose3DPDF.

Definition at line 409 of file CPose3DPDFGaussian.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFGaussian::changeCoordinatesReference ( const 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< CPose3D, 6 >.

Definition at line 340 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by mrpt::topography::path_from_rtk_gps(), and Pose3DPDFGaussTests::testChangeCoordsRef().

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◆ clone()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::clone ( ) const

overridevirtual

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

Implements mrpt::utils::CObject.

◆ copyFrom() [1/3]

void CPose3DPDFGaussian::copyFrom ( const CPose3DPDF & o )

overridevirtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implements mrpt::poses::CPose3DPDF.

Definition at line 289 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), CPose3DPDFGaussian(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::obs::CActionCollection::getFirstMovementEstimation(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), operator+=(), operator-=(), and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::updateState().

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◆ copyFrom() [2/3]

void CPose3DPDFGaussian::copyFrom ( const CPosePDF & o )

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Definition at line 297 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

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◆ copyFrom() [3/3]

void CPose3DPDFGaussian::copyFrom ( const CPose3DQuatPDFGaussian & o )

Copy from a 6D pose PDF described as a Quaternion.

Definition at line 140 of file CPose3DPDFGaussian.cpp.

References aux_posequat2poseypr(), mrpt::poses::CPose3DQuatPDFGaussian::cov, cov, mrpt::math::jacobians::jacob_numeric_estimate(), mean, mrpt::poses::CPose3DQuatPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::poses::CPose3D::setFromValues(), mrpt::math::transform_gaussian_unscented(), mrpt::math::UNINITIALIZED_MATRIX, USE_SUT_QUAT2EULER_CONVERSION_value, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFGaussian::Create ( Args &&... args )

inlinestatic

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF & o )

staticinherited

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.

See also: copyFrom

Definition at line 34 of file CPose3DPDF.cpp.

References mrpt::poses::CPose3DPDFSOG::begin(), CLASS_ID, cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::CreateObject ( )

static

◆ drawManySamples()

void CPose3DPDFGaussian::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

overridevirtual

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 385 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes().

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◆ drawSingleSample() [1/2]

void CPose3DPDFGaussian::drawSingleSample ( CPose3D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 367 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update().

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◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ evaluateNormalizedPDF()

double CPose3DPDFGaussian::evaluateNormalizedPDF ( const CPose3D & x ) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

Definition at line 571 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ evaluatePDF()

double CPose3DPDFGaussian::evaluatePDF ( const CPose3D & x ) const

Evaluates the PDF at a given point.

Definition at line 549 of file CPose3DPDFGaussian.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::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()

See also: mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 119 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 130 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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< CPose3D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose3D &	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 mrpt::poses::CPose3DPDFGaussian::getCovarianceAndMean	(	mrpt::math::CMatrixDouble66 &	out_cov,
		CPose3D &	mean_point
	)		const

inlineoverride

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 96 of file CPose3DPDFGaussian.h.

References cov, and mean.

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPose3D &	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< CPose3D , 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.

◆ getCovSubmatrix2D()

void CPose3DPDFGaussian::getCovSubmatrix2D ( mrpt::math::CMatrixDouble & out_cov ) const

Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.

Definition at line 645 of file CPose3DPDFGaussian.cpp.

References cov.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , 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< CPose3D , STATE_LEN >::getMean ( CPose3D & 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 mrpt::poses::CPose3DPDFGaussian::getMean ( CPose3D & mean_pose ) const

inlineoverride

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

See also: getCovariance

Definition at line 91 of file CPose3DPDFGaussian.h.

References mean.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::slam::StandardProposal::PF_SLAM_implementation().

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◆ getMeanVal()

CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

◆ getPoseMean() [1/2]

const CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( ) const

inline

Definition at line 85 of file CPose3DPDFGaussian.h.

References mean.

◆ getPoseMean() [2/2]

CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( )

inline

Definition at line 86 of file CPose3DPDFGaussian.h.

References mean.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::poses::CPose3DPDFGaussian::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DPDFGaussian::inverse ( CPose3DPDF & o ) const

overridevirtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPose3DPDF.

Definition at line 453 of file CPose3DPDFGaussian.cpp.

References ASSERT_, CLASS_ID, and mrpt::poses::CPose3DPDF::GetRuntimeClass().

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), operator-(), and Pose3DPDFGaussTests::testPoseInverse().

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◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )

inlinestaticinherited

Definition at line 102 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )

inlinestaticinherited

Definition at line 107 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose3D , 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

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 120 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

staticinherited

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:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)

Definition at line 141 of file CPose3DPDF.cpp.

References mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by changeCoordinatesReference(), mrpt::math::jacobians::jacobs_6D_pose_comp(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ mahalanobisDistanceTo()

double CPose3DPDFGaussian::mahalanobisDistanceTo ( const CPose3DPDFGaussian & theOther )

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

Definition at line 605 of file CPose3DPDFGaussian.cpp.

References cov, mean, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI().

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◆ operator delete() [1/3]

void mrpt::poses::CPose3DPDFGaussian::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DPDFGaussian::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DPDFGaussian::operator delete ( void * ptr )

inlinenoexcept

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator delete[]()

void mrpt::poses::CPose3DPDFGaussian::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPose3DPDFGaussian::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DPDFGaussian::operator new ( size_t size )

inline

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DPDFGaussian::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator new[]()

void* mrpt::poses::CPose3DPDFGaussian::operator new[] ( size_t size )

inline

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ operator+=() [1/2]

void CPose3DPDFGaussian::operator+= ( const CPose3D & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

Definition at line 469 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPose3D::composeFrom(), cov, mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator+=() [2/2]

void CPose3DPDFGaussian::operator+= ( const CPose3DPDFGaussian & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

Definition at line 491 of file CPose3DPDFGaussian.cpp.

References copyFrom().

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◆ operator-()

CPose3DPDFGaussian mrpt::poses::CPose3DPDFGaussian::operator- ( ) const

inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 166 of file CPose3DPDFGaussian.h.

References inverse(), and mrpt::poses::UNINITIALIZED_POSE.

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◆ operator-=()

void CPose3DPDFGaussian::operator-= ( const CPose3DPDFGaussian & Ap )

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).

Definition at line 520 of file CPose3DPDFGaussian.cpp.

References copyFrom().

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◆ readFromStream()

void CPose3DPDFGaussian::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 250 of file CPose3DPDFGaussian.cpp.

References cov, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ saveToTextFile()

void CPose3DPDFGaussian::saveToTextFile ( const std::string & file ) const

overridevirtual

Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 320 of file CPose3DPDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

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◆ 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 CPose3DPDFGaussian::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 232 of file CPose3DPDFGaussian.cpp.

References cov, and mean.

Member Data Documentation

◆ _init_CPose3DPDFGaussian

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFGaussian::_init_CPose3DPDFGaussian

staticprotected

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ className

constexpr const char* mrpt::poses::CPose3DPDFGaussian::className = "CPose3DPDFGaussian"

static

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussian::cov

The 6x6 covariance matrix.

Definition at line 83 of file CPose3DPDFGaussian.h.

Referenced by assureSymmetry(), changeCoordinatesReference(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), CPose3DPDFGaussian(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), getCovarianceAndMean(), getCovSubmatrix2D(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), readFromStream(), saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DPDFGaussTests::testToQuatPDFAndBack(), and writeToStream().

◆ mean

CPose3D mrpt::poses::CPose3DPDFGaussian::mean

The mean value.

Definition at line 79 of file CPose3DPDFGaussian.h.

Referenced by mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), changeCoordinatesReference(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), copyFrom(), mrpt::poses::CPose3DPDF::createFrom2D(), drawManySamples(), drawSingleSample(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), getCovarianceAndMean(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentPoseEstimation(), getMean(), getPoseMean(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), operator+=(), mrpt::poses::CPose3DPDFGaussianInf::operator-=(), mrpt::poses::operator==(), mrpt::topography::path_from_rtk_gps(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), readFromStream(), saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DPDFGaussTests::testToQuatPDFAndBack(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFGaussian::runtimeClassId

staticprotected

Definition at line 42 of file CPose3DPDFGaussian.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

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

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFGaussian() [1/6]

◆ CPose3DPDFGaussian() [2/6]

◆ CPose3DPDFGaussian() [3/6]

◆ CPose3DPDFGaussian() [4/6]

◆ CPose3DPDFGaussian() [5/6]

◆ CPose3DPDFGaussian() [6/6]

Member Function Documentation

◆ _GetBaseClass()

◆ asString() [1/2]

◆ asString() [2/2]

◆ assureSymmetry()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom() [1/3]

◆ copyFrom() [2/3]

◆ copyFrom() [3/3]

◆ Create()

◆ createFrom2D()

◆ CreateObject()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ evaluateNormalizedPDF()

◆ evaluatePDF()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getCovSubmatrix2D()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ mahalanobisDistanceTo()

◆ 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[]()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-()

◆ operator-=()

◆ readFromStream()

◆ saveToTextFile()