Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ .

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

See also: CPose2D, CPosePDF, CPosePDFParticles

Definition at line 31 of file CPosePDFGaussian.h.

#include <mrpt/poses/CPosePDFGaussian.h>

Inheritance diagram for mrpt::poses::CPosePDFGaussian:

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

typedef CPose2D	type_value
	The type of the state the PDF represents. More...

typedef CProbabilityDensityFunction< CPose2D, 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

const CPose2D &	getPoseMean () const

CPose2D &	getPoseMean ()

	CPosePDFGaussian ()
	Default constructor. More...

	CPosePDFGaussian (const CPose2D &init_Mean)
	Constructor. More...

	CPosePDFGaussian (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov)
	Constructor. More...

	CPosePDFGaussian (const CPosePDF &o)
	Copy constructor, including transformations between other PDFs. More...

	CPosePDFGaussian (const CPose3DPDF &o)
	Copy constructor, including transformations between other PDFs. More...

void	getMean (CPose2D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble33 &out_cov, CPose2D &mean_point) const override
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More...

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

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

void	saveToTextFile (const std::string &file) const override
	Save PDF's particles to a text file, containing the 2D 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	changeCoordinatesReference (const CPose2D &newReferenceBase)
	this = p (+) this. More...

void	rotateCov (const double ang)
	Rotate the covariance matrix by replacing it by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ . More...

void	inverseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &ref)
	Set $this = x1 \ominus x0$ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!). More...

void	inverseComposition (const CPosePDFGaussian &x1, const CPosePDFGaussian &x0, const mrpt::math::CMatrixDouble33 &COV_01)
	Set $this = x1 \ominus x0$ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1). More...

void	drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum. More...

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) override
	Bayesian fusion of two points gauss. More...

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

void	operator+= (const CPose2D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...

double	evaluatePDF (const CPose2D &x) const
	Evaluates the PDF at a given point. More...

double	evaluateNormalizedPDF (const CPose2D &x) const
	Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...

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

void	assureMinCovariance (const double &minStdXY, const double &minStdPhi)
	Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...) More...

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

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

void	composePoint (const mrpt::math::TPoint2D &l, CPoint2DPDFGaussian &g) const
	Returns the PDF of the 2D point $g = q \oplus l$ with "q"=this pose and "l" a point without uncertainty. 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 (CPose2D &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, CPose2D &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, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose2D	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 (CPose2D &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 void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
	This static method computes the pose composition Jacobians, with these formulas: More...

static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)

static bool	is_3D ()

static bool	is_PDF ()

Public Attributes
Data fields
CPose2D	mean
	The mean value. More...

mrpt::math::CMatrixDouble33	cov
	The 3x3 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< CPosePDFGaussian >

using	ConstPtr = std::shared_ptr< const CPosePDFGaussian >

static mrpt::utils::CLASSINIT	_init_CPosePDFGaussian

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPosePDFGaussian"

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::CPosePDFGaussian::ConstPtr = std::shared_ptr<const CPosePDFGaussian >

Definition at line 33 of file CPosePDFGaussian.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 33 of file CPosePDFGaussian.h.

◆ self_t

typedef CProbabilityDensityFunction<CPose2D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t

inherited

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ type_value

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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 94 of file CPosePDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 99 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFGaussian() [1/5]

CPosePDFGaussian::CPosePDFGaussian ( )

Default constructor.

Definition at line 38 of file CPosePDFGaussian.cpp.

◆ CPosePDFGaussian() [2/5]

CPosePDFGaussian::CPosePDFGaussian ( const CPose2D & init_Mean )

explicit

Constructor.

Definition at line 51 of file CPosePDFGaussian.cpp.

References cov.

◆ CPosePDFGaussian() [3/5]

CPosePDFGaussian::CPosePDFGaussian	(	const CPose2D &	init_Mean,
		const mrpt::math::CMatrixDouble33 &	init_Cov
	)

Constructor.

Definition at line 42 of file CPosePDFGaussian.cpp.

◆ CPosePDFGaussian() [4/5]

mrpt::poses::CPosePDFGaussian::CPosePDFGaussian ( const CPosePDF & o )

inlineexplicit

Copy constructor, including transformations between other PDFs.

Definition at line 68 of file CPosePDFGaussian.h.

References copyFrom().

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◆ CPosePDFGaussian() [5/5]

mrpt::poses::CPosePDFGaussian::CPosePDFGaussian ( const CPose3DPDF & o )

inlineexplicit

Copy constructor, including transformations between other PDFs.

Definition at line 70 of file CPosePDFGaussian.h.

References copyFrom().

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Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ assureMinCovariance()

void CPosePDFGaussian::assureMinCovariance	(	const double &	minStdXY,
		const double &	minStdPhi
	)

Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...)

Definition at line 439 of file CPosePDFGaussian.cpp.

References cov, and mrpt::math::square().

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◆ assureSymmetry()

void CPosePDFGaussian::assureSymmetry ( )

protected

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

Definition at line 376 of file CPosePDFGaussian.cpp.

References cov.

Referenced by bayesianFusion().

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◆ bayesianFusion()

void CPosePDFGaussian::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)

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::CPosePDF.

Definition at line 275 of file CPosePDFGaussian.cpp.

References ASSERT_, assureSymmetry(), CLASS_ID, cov, mrpt::poses::CPosePDF::GetRuntimeClass(), mean, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFSOG::bayesianFusion().

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◆ changeCoordinatesReference() [1/2]

void CPosePDFGaussian::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< CPose2D, 3 >.

Definition at line 187 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPose2D::composeFrom(), mean, mrpt::poses::CPose2D::phi(), and rotateCov().

Referenced by operator+().

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◆ changeCoordinatesReference() [2/2]

void CPosePDFGaussian::changeCoordinatesReference ( const CPose2D & newReferenceBase )

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.

Definition at line 202 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPose2D::composeFrom(), mean, mrpt::poses::CPose2D::phi(), and rotateCov().

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◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ composePoint()

void CPosePDFGaussian::composePoint	(	const mrpt::math::TPoint2D &	l,
		CPoint2DPDFGaussian &	g
	)		const

Returns the PDF of the 2D point $g = q \oplus l$ with "q"=this pose and "l" a point without uncertainty.

Definition at line 566 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPose2D::composePoint(), cov, mrpt::poses::CPosePDF::jacobiansPoseComposition(), mean, mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by mrpt::tfest::se2_l2_robust().

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◆ copyFrom() [1/2]

void CPosePDFGaussian::copyFrom ( const CPosePDF & o )

overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 141 of file CPosePDFGaussian.cpp.

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

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), CPosePDFGaussian(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ copyFrom() [2/2]

void CPosePDFGaussian::copyFrom ( const CPose3DPDF & o )

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

Definition at line 153 of file CPosePDFGaussian.cpp.

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

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 33 of file CPosePDFGaussian.h.

◆ CreateObject()

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

static

◆ drawManySamples()

void CPosePDFGaussian::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 250 of file CPosePDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::math::wrapToPiInPlace(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ drawSingleSample() [1/2]

void CPosePDFGaussian::drawSingleSample ( CPose2D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 229 of file CPosePDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ evaluateNormalizedPDF()

double CPosePDFGaussian::evaluateNormalizedPDF ( const CPose2D & x ) const

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

Definition at line 364 of file CPosePDFGaussian.cpp.

References cov, mean, and mrpt::math::normalPDF().

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◆ evaluatePDF()

double CPosePDFGaussian::evaluatePDF ( const CPose2D & x ) const

Evaluates the PDF at a given point.

Definition at line 353 of file CPosePDFGaussian.cpp.

References cov, mean, and mrpt::math::normalPDF().

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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

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

inlineinherited

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

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

Definition at line 113 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 124 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getCovariance() [1/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovariance() [3/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose2D &	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::CPosePDFGaussian::getCovarianceAndMean	(	mrpt::math::CMatrixDouble33 &	out_cov,
		CPose2D &	mean_point
	)		const

inlineoverride

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

See also: getMean

Definition at line 80 of file CPosePDFGaussian.h.

References cov, and mean.

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPose2D &	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.

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

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D & 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::CPosePDFGaussian::getMean ( CPose2D & mean_pose ) const

inlineoverride

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

See also: getCovariance

Definition at line 75 of file CPosePDFGaussian.h.

References mean.

◆ getMeanVal()

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

◆ getPoseMean() [1/2]

const CPose2D& mrpt::poses::CPosePDFGaussian::getPoseMean ( ) const

inline

Definition at line 52 of file CPosePDFGaussian.h.

References mean.

◆ getPoseMean() [2/2]

CPose2D& mrpt::poses::CPosePDFGaussian::getPoseMean ( )

inline

Definition at line 53 of file CPosePDFGaussian.h.

References mean.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

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

static

◆ inverse()

void CPosePDFGaussian::inverse ( CPosePDF & o ) const

overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 318 of file CPosePDFGaussian.cpp.

References ASSERT_, CLASS_ID, cov, mrpt::poses::CPosePDF::GetRuntimeClass(), mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by PosePDFGaussTests::testPoseInverse().

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◆ inverseComposition() [1/2]

void CPosePDFGaussian::inverseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	ref
	)

Set $this = x1 \ominus x0$ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!).

Definition at line 452 of file CPosePDFGaussian.cpp.

References cov, mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPosePDFGaussianInf::inverseComposition(), and operator-=().

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◆ inverseComposition() [2/2]

void CPosePDFGaussian::inverseComposition	(	const CPosePDFGaussian &	x1,
		const CPosePDFGaussian &	x0,
		const mrpt::math::CMatrixDouble33 &	COV_01
	)

Set $this = x1 \ominus x0$ , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1).

Definition at line 497 of file CPosePDFGaussian.cpp.

References cov, mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ is_3D()

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

inlinestaticinherited

Definition at line 98 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

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

inlinestaticinherited

Definition at line 103 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::utils::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 120 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du,
		const bool	compute_df_dx = `true`,
		const bool	compute_df_du = `true`
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

Definition at line 32 of file CPosePDF.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().

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◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		mrpt::math::CMatrixDouble33 &	df_dx,
		mrpt::math::CMatrixDouble33 &	df_du
	)

staticinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 22 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

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◆ mahalanobisDistanceTo()

double CPosePDFGaussian::mahalanobisDistanceTo ( const CPosePDFGaussian & theOther )

Computes the Mahalanobis distance between the centers of two Gaussians.

Definition at line 388 of file CPosePDFGaussian.cpp.

References cov, mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt_scalar(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::wrapToPiInPlace().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

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◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator new() [1/3]

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

inline

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator new() [3/3]

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

inlinenoexcept

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator new[]()

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

inline

Definition at line 33 of file CPosePDFGaussian.h.

◆ operator+=() [1/2]

void CPosePDFGaussian::operator+= ( const CPose2D & Ap )

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

Definition at line 344 of file CPosePDFGaussian.cpp.

References mean, and rotateCov().

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◆ operator+=() [2/2]

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

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

Definition at line 545 of file CPosePDFGaussian.cpp.

References cov, mrpt::poses::CPosePDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator-=()

void mrpt::poses::CPosePDFGaussian::operator-= ( const CPosePDFGaussian & ref )

inline

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

Definition at line 190 of file CPosePDFGaussian.h.

References inverseComposition().

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◆ readFromStream()

void CPosePDFGaussian::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 76 of file CPosePDFGaussian.cpp.

References cov, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ rotateCov()

void CPosePDFGaussian::rotateCov ( const double ang )

Rotate the covariance matrix by replacing it by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .

Definition at line 214 of file CPosePDFGaussian.cpp.

References cov.

Referenced by changeCoordinatesReference(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), and operator+=().

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◆ saveToTextFile()

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

overridevirtual

Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 170 of file CPosePDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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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 CPosePDFGaussian::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 60 of file CPosePDFGaussian.cpp.

References cov, and mean.

Member Data Documentation

◆ _init_CPosePDFGaussian

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGaussian::_init_CPosePDFGaussian

staticprotected

Definition at line 33 of file CPosePDFGaussian.h.

◆ className

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

static

Definition at line 33 of file CPosePDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussian::cov

The 3x3 covariance matrix.

Definition at line 48 of file CPosePDFGaussian.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), assureMinCovariance(), assureSymmetry(), bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), composePoint(), mrpt::poses::CPosePDFParticles::copyFrom(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian(), CPosePDFGaussian(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D(), inverse(), inverseComposition(), mrpt::poses::CPosePDFGaussianInf::inverseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), operator+=(), mrpt::poses::operator==(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::slam::CMetricMapBuilderICP::processObservation(), ransac_data_assoc_run(), readFromStream(), rotateCov(), saveToTextFile(), mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::poses::CPoseRandomSampler::setPosePDF(), PosePDFGaussTests::testPoseInverse(), and writeToStream().

◆ mean

CPose2D mrpt::poses::CPosePDFGaussian::mean

The mean value.

Definition at line 46 of file CPosePDFGaussian.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), changeCoordinatesReference(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), composePoint(), mrpt::poses::CPosePDFParticles::copyFrom(), copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), getMean(), getPoseMean(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), inverse(), inverseComposition(), mrpt::poses::CPosePDFGaussianInf::inverseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::slam::CMetricMapBuilderICP::processObservation(), ransac_data_assoc_run(), readFromStream(), saveToTextFile(), mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::poses::CPoseRandomSampler::setPosePDF(), PosePDFGaussTests::testPoseInverse(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFGaussian::runtimeClassId

staticprotected

Definition at line 33 of file CPosePDFGaussian.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , 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

◆ CPosePDFGaussian() [1/5]

◆ CPosePDFGaussian() [2/5]

◆ CPosePDFGaussian() [3/5]

◆ CPosePDFGaussian() [4/5]

◆ CPosePDFGaussian() [5/5]

Member Function Documentation

◆ _GetBaseClass()

◆ assureMinCovariance()

◆ assureSymmetry()

◆ bayesianFusion()

◆ changeCoordinatesReference() [1/2]

◆ changeCoordinatesReference() [2/2]

◆ clone()

◆ composePoint()

◆ copyFrom() [1/2]

◆ copyFrom() [2/2]

◆ Create()

◆ 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()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ inverseComposition() [1/2]

◆ inverseComposition() [2/2]

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition() [1/2]

◆ jacobiansPoseComposition() [2/2]

◆ 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-=()

◆ readFromStream()

◆ rotateCov()

◆ saveToTextFile()