Detailed Description

Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz].

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 3D points (without attitude), see CPointPDF.
For a similar class for 3D poses (with Euler angles instead of quaternions), see CPose3DPDF.

See also the tutorial on probabilistic spatial representations in the MRPT.

See also: CPose3DQuatPDF, CPose3DPDF

Definition at line 46 of file CPose3DQuatPDF.h.

#include <mrpt/poses/CPose3DQuatPDF.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDF:

Public Types
typedef CPose3DQuat	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPose3DQuat, STATE_LEN >	self_t

Public Member Functions
virtual void	copyFrom (const CPose3DQuatPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

virtual void	inverse (CPose3DQuatPDF &o) const =0
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. 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 CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

virtual void	getMean (CPose3DQuat &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, CPose3DQuat &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, CPose3DQuat &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose3DQuat	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	saveToTextFile (const std::string &file) const=0
	Save PDF's particles to a text file. More...

virtual void	drawSingleSample (CPose3DQuat &outPart) const=0
	Draws a single sample from the distribution. More...

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

virtual void	changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0
	this = p (+) this. 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 CPose3DQuatPDF *	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 CPose3DQuatPDF. More...

static void	jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=nullptr)
	This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. 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
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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< CPose3DQuatPDF >

using	ConstPtr = std::shared_ptr< const CPose3DQuatPDF >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

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

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

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

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPose3DQuatPDF::ConstPtr = std::shared_ptr<const CPose3DQuatPDF >

Definition at line 50 of file CPose3DQuatPDF.h.

◆ Ptr

using mrpt::poses::CPose3DQuatPDF::Ptr = std::shared_ptr< CPose3DQuatPDF >

Definition at line 50 of file CPose3DQuatPDF.h.

◆ self_t

typedef CProbabilityDensityFunction<CPose3DQuat , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::self_t

inherited

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::type_value

inherited

The type of the state the PDF represents.

Definition at line 36 of file CProbabilityDensityFunction.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDF::_GetBaseClass ( )

staticprotected

◆ changeCoordinatesReference()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::changeCoordinatesReference ( const mrpt::poses::CPose3D & newReferenceBase )

pure virtualinherited

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.

Implemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.

◆ clone()

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

pure virtualinherited

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

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ copyFrom()

virtual void mrpt::poses::CPose3DQuatPDF::copyFrom ( const CPose3DQuatPDF & o )

pure virtual

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

See also: createFrom2D

Implemented in mrpt::poses::CPose3DQuatPDFGaussianInf, and mrpt::poses::CPose3DQuatPDFGaussian.

◆ createFrom2D()

CPose3DQuatPDF * CPose3DQuatPDF::createFrom2D ( const CPosePDF & o )

static

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 CPose3DQuatPDF.

This object must be deleted by the user when not required anymore.

See also: copyFrom

Definition at line 26 of file CPose3DQuatPDF.cpp.

References MRPT_END, and MRPT_START.

◆ drawManySamples()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Reimplemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.

Definition at line 154 of file CProbabilityDensityFunction.h.

◆ drawSingleSample()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( CPose3DQuat & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DQuatPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inline

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.; By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

Definition at line 95 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::getAs3DObject ( ) const

inline

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 106 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose3DQuat &	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

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPose3DQuat &	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< CPose3DQuat , 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< CPose3DQuat , 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()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMean ( CPose3DQuat & mean_point ) const

pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovarianceAndMean, getInformationMatrix

◆ getMeanVal()

CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMeanVal ( ) const

inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovariance, getInformationMatrix

Definition at line 70 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDF::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPose3DQuatPDFGaussianInf, and mrpt::poses::CPose3DQuatPDFGaussian.

Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), and mrpt::poses::CPose3DQuatPDFGaussian::inverse().

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◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::poses::CPose3DQuatPDF::GetRuntimeClassIdStatic ( )

static

◆ inverse()

virtual void mrpt::poses::CPose3DQuatPDF::inverse ( CPose3DQuatPDF & o ) const

pure virtual

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

Implemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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::CPose3DQuatPDFGaussianInf.

Definition at line 120 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DQuatPDF::jacobiansPoseComposition	(	const CPose3DQuat &	x,
		const CPose3DQuat &	u,
		mrpt::math::CMatrixDouble77 &	df_dx,
		mrpt::math::CMatrixDouble77 &	df_du,
		CPose3DQuat *	out_x_oplus_u = `nullptr`
	)

static

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.

Parameters

out_x_oplus_u

If set to !=nullptr, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here:

http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations

Definition at line 41 of file CPose3DQuatPDF.cpp.

References mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_6D_pose_comp(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), mrpt::poses::CPose3DQuatPDFGaussian::operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().

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◆ readFromStream()

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

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

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

◆ saveToTextFile()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::saveToTextFile ( const std::string & file ) const

pure virtualinherited

Save PDF's particles to a text file.

See derived classes for more information about the format of generated files.

Implemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.

◆ 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()

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

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

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

See also: CStream

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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Friends And Related Function Documentation

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 50 of file CPose3DQuatPDF.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDF::runtimeClassId

staticprotected

Definition at line 50 of file CPose3DQuatPDF.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ self_t

◆ type_value

Member Function Documentation

◆ _GetBaseClass()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ createFrom2D()

◆ drawManySamples()

◆ drawSingleSample()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean()

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean()

◆ getMeanVal()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ readFromStream()

◆ saveToTextFile()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ mrpt::utils::CStream

Member Data Documentation

◆ runtimeClassId

◆ state_length