Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

This class implements that PDF as the following multi-modal Gaussian distribution:

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See also: CPose3DPDF

Definition at line 35 of file CPose3DPDFSOG.h.

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:

Classes
struct	TGaussianMode
	The struct for each mode: More...

Public Types
typedef mrpt::aligned_containers< TGaussianMode >::vector_t	TModesList

typedef TModesList::const_iterator	const_iterator

typedef TModesList::iterator	iterator

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

	CPose3DPDFSOG (size_t nModes=1)
	Default constructor. More...

void	clear ()
	Clear all the gaussian modes. More...

void	resize (const size_t N)
	Set the number of SOG modes. More...

size_t	size () const
	Return the number of Gaussian modes. More...

bool	empty () const
	Return whether there is any Gaussian mode. More...

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

void	getMean (CPose3D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble66 &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	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0. More...

void	getMostLikelyMode (CPose3DPDFGaussian &outVal) const
	Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...

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

void	saveToTextFile (const std::string &file) const override
	Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More...

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

void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) 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,z,yaw,pitch,roll) datum. More...

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

void	appendFrom (const CPose3DPDFSOG &o)
	Append the Gaussian modes from "o" to the current set of modes of "this" density. 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 ()

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...

Protected Attributes
TModesList	m_modes
	Access directly to this array for modify the modes as desired. More...

RTTI stuff
using	Ptr = std::shared_ptr< CPose3DPDFSOG >

using	ConstPtr = std::shared_ptr< const CPose3DPDFSOG >

static mrpt::utils::CLASSINIT	_init_CPose3DPDFSOG

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DPDFSOG"

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

◆ const_iterator

typedef TModesList::const_iterator mrpt::poses::CPose3DPDFSOG::const_iterator

Definition at line 53 of file CPose3DPDFSOG.h.

◆ ConstPtr

using mrpt::poses::CPose3DPDFSOG::ConstPtr = std::shared_ptr<const CPose3DPDFSOG >

Definition at line 37 of file CPose3DPDFSOG.h.

◆ iterator

typedef TModesList::iterator mrpt::poses::CPose3DPDFSOG::iterator

Definition at line 54 of file CPose3DPDFSOG.h.

◆ Ptr

using mrpt::poses::CPose3DPDFSOG::Ptr = std::shared_ptr< CPose3DPDFSOG >

A typedef for the associated smart pointer

Definition at line 37 of file CPose3DPDFSOG.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.

◆ TModesList

typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPose3DPDFSOG::TModesList

Definition at line 52 of file CPose3DPDFSOG.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

◆ CPose3DPDFSOG()

CPose3DPDFSOG::CPose3DPDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters

nModes The initial size of CPose3DPDFSOG::m_modes

Definition at line 30 of file CPose3DPDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( )

staticprotected

◆ appendFrom()

void CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG & o )

Append the Gaussian modes from "o" to the current set of modes of "this" density.

Definition at line 374 of file CPose3DPDFSOG.cpp.

References ASSERT_, m_modes, MRPT_END, and MRPT_START.

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

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◆ assureSymmetry()

void CPose3DPDFSOG::assureSymmetry ( )

protected

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

Definition at line 292 of file CPose3DPDFSOG.cpp.

References MRPT_END, MRPT_START, and val.

◆ bayesianFusion()

void CPose3DPDFSOG::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

Definition at line 211 of file CPose3DPDFSOG.cpp.

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

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◆ begin() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::begin ( )

inline

Definition at line 82 of file CPose3DPDFSOG.h.

References m_modes.

Referenced by mrpt::poses::CPose3DPDF::createFrom2D().

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◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const

inline

Definition at line 84 of file CPose3DPDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPose3DPDFSOG::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 202 of file CPose3DPDFSOG.cpp.

◆ clear()

void CPose3DPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 34 of file CPose3DPDFSOG.cpp.

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

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◆ clone()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFSOG::clone ( ) const

overridevirtual

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

Implements mrpt::utils::CObject.

◆ copyFrom()

void CPose3DPDFSOG::copyFrom ( const CPose3DPDF & o )

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 160 of file CPose3DPDFSOG.cpp.

References CLASS_ID, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFSOG::Create ( Args &&... args )

inlinestatic

Definition at line 37 of file CPose3DPDFSOG.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 begin(), CLASS_ID, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DPDFSOG::CreateObject ( )

static

◆ drawManySamples()

void CPose3DPDFSOG::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,z,yaw,pitch,roll) datum.

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

Definition at line 338 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFSOG::drawSingleSample ( CPose3D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 329 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

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

pure virtualinherited

Draws a single sample from the distribution.

◆ empty()

bool mrpt::poses::CPose3DPDFSOG::empty ( ) const

inline

Return whether there is any Gaussian mode.

Definition at line 81 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::end ( )

inline

Definition at line 83 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const

inline

Definition at line 85 of file CPose3DPDFSOG.h.

References m_modes.

◆ 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 CPose3DPDFSOG::getCovarianceAndMean	(	mrpt::math::CMatrixDouble66 &	cov,
		CPose3D &	mean_point
	)		const

override

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

See also: getMean

Definition at line 66 of file CPose3DPDFSOG.cpp.

References mean(), and val.

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◆ 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.

◆ 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 CPose3DPDFSOG::getMean ( CPose3D & mean_pose ) const

override

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

See also: getCovariance

Definition at line 44 of file CPose3DPDFSOG.cpp.

References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), and val.

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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.

◆ getMostLikelyMode()

void CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian & outVal ) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

Definition at line 392 of file CPose3DPDFSOG.cpp.

References empty().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DPDFSOG::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 349 of file CPose3DPDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, resize(), and val.

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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 mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::math::jacobians::jacobs_6D_pose_comp(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ normalizeWeights()

void CPose3DPDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

Definition at line 310 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DPDFSOG::operator delete ( void * ptr )

inlinenoexcept

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DPDFSOG::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DPDFSOG::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator delete[]()

void mrpt::poses::CPose3DPDFSOG::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DPDFSOG::operator new ( size_t size )

inline

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator new() [2/3]

static void* mrpt::poses::CPose3DPDFSOG::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DPDFSOG::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 37 of file CPose3DPDFSOG.h.

◆ operator new[]()

void* mrpt::poses::CPose3DPDFSOG::operator new[] ( size_t size )

inline

Definition at line 37 of file CPose3DPDFSOG.h.

◆ readFromStream()

void CPose3DPDFSOG::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 123 of file CPose3DPDFSOG.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, THROW_EXCEPTION, and val.

◆ resize()

void CPose3DPDFSOG::resize ( const size_t N )

Set the number of SOG modes.

Definition at line 38 of file CPose3DPDFSOG.cpp.

Referenced by inverse().

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◆ saveToTextFile()

void CPose3DPDFSOG::saveToTextFile ( const std::string & file ) const

overridevirtual

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

w (The linear weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
x_mean (gaussian mean value)
yaw_mean (gaussian mean value, in radians)
pitch_mean (gaussian mean value, in radians)
roll_mean (gaussian mean value, in radians)
C11,C22,C33,C44,C55,C66 (Covariance elements)
C12,C13,C14,C15,C16 (Covariance elements)
C23,C24,C25,C25 (Covariance elements)
C34,C35,C36 (Covariance elements)
C45,C46 (Covariance elements)
C56 (Covariance elements)

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

Definition at line 185 of file CPose3DPDFSOG.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and val.

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◆ size()

size_t mrpt::poses::CPose3DPDFSOG::size ( ) const

inline

Return the number of Gaussian modes.

Definition at line 79 of file CPose3DPDFSOG.h.

References m_modes.

◆ 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 CPose3DPDFSOG::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 103 of file CPose3DPDFSOG.cpp.

References val.

Member Data Documentation

◆ _init_CPose3DPDFSOG

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFSOG::_init_CPose3DPDFSOG

staticprotected

Definition at line 37 of file CPose3DPDFSOG.h.

◆ className

constexpr const char* mrpt::poses::CPose3DPDFSOG::className = "CPose3DPDFSOG"

static

Definition at line 37 of file CPose3DPDFSOG.h.

◆ m_modes

TModesList mrpt::poses::CPose3DPDFSOG::m_modes

protected

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes

Definition at line 66 of file CPose3DPDFSOG.h.

Referenced by appendFrom(), begin(), empty(), end(), and size().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFSOG::runtimeClassId

staticprotected

Definition at line 37 of file CPose3DPDFSOG.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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

◆ self_t

◆ TModesList

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFSOG()

Member Function Documentation

◆ _GetBaseClass()

◆ appendFrom()

◆ assureSymmetry()

◆ bayesianFusion()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesReference()

◆ clear()

◆ clone()

◆ copyFrom()

◆ Create()

◆ createFrom2D()

◆ CreateObject()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ 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()

◆ getMostLikelyMode()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ normalizeWeights()

◆ 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()

◆ resize()

◆ saveToTextFile()

◆ size()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CPose3DPDFSOG