Declares a class that represents a Probability Density function (PDF) of a 2D pose .
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPosePDFSOG::m_modes
See mrpt::poses::CPosePDF for more details.
Definition at line 36 of file CPosePDFSOG.h.
#include <mrpt/poses/CPosePDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode: More... | |
Public Types | |
typedef mrpt::aligned_containers< TGaussianMode >::vector_t | CListGaussianModes |
typedef CListGaussianModes::const_iterator | const_iterator |
typedef CListGaussianModes::iterator | iterator |
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 CListGaussianModes & | getSOGModes () const |
CPosePDFSOG (size_t nModes=1) | |
Default constructor. More... | |
size_t | size () const |
Return the number of Gaussian modes. More... | |
bool | empty () const |
Return whether there is any Gaussian mode. More... | |
void | clear () |
Clear the list of modes. More... | |
const TGaussianMode & | operator[] (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | operator[] (size_t i) |
Access to individual beacons. More... | |
const TGaussianMode & | get (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | get (size_t i) |
Access to individual beacons. More... | |
void | push_back (const TGaussianMode &m) |
Inserts a copy of the given mode into the SOG. More... | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
iterator | erase (iterator i) |
void | resize (const size_t N) |
Resize the number of SOG modes. More... | |
void | mergeModes (double max_KLd=0.5, bool verbose=false) |
Merge very close modes so the overall number of modes is reduced while preserving the total distribution. 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 &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 | getMostLikelyCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const |
For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean. More... | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. More... | |
void | copyFrom (const CPosePDF &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 | rotateAllCovariances (const double &ang) |
Rotate all the covariance matrixes by replacing them by , where . 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 | inverse (CPosePDF &o) const override |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | operator+= (const mrpt::poses::CPose2D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const mrpt::poses::CPose2D &x, bool sumOverAllPhis=false) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const mrpt::poses::CPose2D &x) const |
Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1]. More... | |
void | evaluatePDFInArea (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, mrpt::math::CMatrixD &outMatrix, bool sumOverAllPhis=false) |
Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More... | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) override |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object) 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 () |
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 () |
Ensures 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 | |
CListGaussianModes | m_modes |
The list of SOG modes. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPosePDFSOG > |
using | ConstPtr = std::shared_ptr< const CPosePDFSOG > |
static mrpt::utils::CLASSINIT | _init_CPosePDFSOG |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPosePDFSOG" |
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... | |
typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPosePDFSOG::CListGaussianModes |
Definition at line 68 of file CPosePDFSOG.h.
typedef CListGaussianModes::const_iterator mrpt::poses::CPosePDFSOG::const_iterator |
Definition at line 69 of file CPosePDFSOG.h.
using mrpt::poses::CPosePDFSOG::ConstPtr = std::shared_ptr<const CPosePDFSOG > |
Definition at line 38 of file CPosePDFSOG.h.
typedef CListGaussianModes::iterator mrpt::poses::CPosePDFSOG::iterator |
Definition at line 70 of file CPosePDFSOG.h.
using mrpt::poses::CPosePDFSOG::Ptr = std::shared_ptr< CPosePDFSOG > |
A typedef for the associated smart pointer
Definition at line 38 of file CPosePDFSOG.h.
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inherited |
Definition at line 37 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 36 of file CProbabilityDensityFunction.h.
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Enumerator | |
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is_3D_val |
Definition at line 94 of file CPosePDF.h.
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inherited |
Enumerator | |
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is_PDF_val |
Definition at line 99 of file CPosePDF.h.
CPosePDFSOG::CPosePDFSOG | ( | size_t | nModes = 1 | ) |
Default constructor.
nModes | The initial size of CPosePDFSOG::m_modes |
Definition at line 34 of file CPosePDFSOG.cpp.
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staticprotected |
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protected |
Ensures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 504 of file CPosePDFSOG.cpp.
References mrpt::math::cov().
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overridevirtual |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)
Implements mrpt::poses::CPosePDF.
Definition at line 320 of file CPosePDFSOG.cpp.
References ASSERT_, mrpt::poses::CPosePDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::poses::CPosePDFGaussian::cov, mrpt::math::cov(), mrpt::poses::CPosePDF::GetRuntimeClass(), mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, M_2PI, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mean(), MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.
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inline |
Definition at line 121 of file CPosePDFSOG.h.
References m_modes.
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inline |
Definition at line 123 of file CPosePDFSOG.h.
References m_modes.
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 242 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), mrpt::poses::CPose2D::getHomogeneousMatrix(), and mean().
void CPosePDFSOG::clear | ( | ) |
Clear the list of modes.
Definition at line 38 of file CPosePDFSOG.cpp.
Referenced by mrpt::tfest::se2_l2_robust().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPosePDF.
Definition at line 200 of file CPosePDFSOG.cpp.
References CLASS_ID, mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean(), mrpt::poses::CPosePDF::GetRuntimeClass(), mean(), MRPT_END, MRPT_START, and resize().
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inlinestatic |
Definition at line 38 of file CPosePDFSOG.h.
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static |
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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 305 of file CPosePDFSOG.cpp.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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pure virtualinherited |
Draws a single sample from the distribution.
Draws a single sample from the distribution.
Definition at line 292 of file CPosePDFSOG.cpp.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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inline |
Return whether there is any Gaussian mode.
Definition at line 89 of file CPosePDFSOG.h.
References m_modes.
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inline |
Definition at line 122 of file CPosePDFSOG.h.
References m_modes.
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inline |
Definition at line 124 of file CPosePDFSOG.h.
References m_modes.
Definition at line 125 of file CPosePDFSOG.h.
References m_modes.
double CPosePDFSOG::evaluateNormalizedPDF | ( | const mrpt::poses::CPose2D & | x | ) | const |
Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1].
Definition at line 485 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), mean(), and mrpt::math::normalPDF().
double CPosePDFSOG::evaluatePDF | ( | const mrpt::poses::CPose2D & | x, |
bool | sumOverAllPhis = false |
||
) | const |
Evaluates the PDF at a given point.
Definition at line 440 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), mean(), and mrpt::math::normalPDF().
void CPosePDFSOG::evaluatePDFInArea | ( | const double & | x_min, |
const double & | x_max, | ||
const double & | y_min, | ||
const double & | y_max, | ||
const double & | resolutionXY, | ||
const double & | phi, | ||
mrpt::math::CMatrixD & | outMatrix, | ||
bool | sumOverAllPhis = false |
||
) |
Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
Definition at line 538 of file CPosePDFSOG.cpp.
References ASSERT_, MRPT_END, and MRPT_START.
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inline |
Access to individual beacons.
Definition at line 107 of file CPosePDFSOG.h.
References ASSERT_, and m_modes.
Referenced by mrpt::tfest::se2_l2_robust().
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inline |
Access to individual beacons.
Definition at line 113 of file CPosePDFSOG.h.
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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)
Definition at line 113 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 124 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 81 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 91 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 104 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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override |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
Definition at line 69 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), and mean().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 57 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 178 of file CProbabilityDensityFunction.h.
References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().
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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.
Definition at line 127 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
Definition at line 48 of file CPosePDFSOG.cpp.
References mrpt::poses::SE_average< 2 >::append(), mrpt::poses::SE_average< 2 >::get_average(), and mean().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 70 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().
void CPosePDFSOG::getMostLikelyCovarianceAndMean | ( | mrpt::math::CMatrixDouble33 & | cov, |
CPose2D & | mean_point | ||
) | const |
For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.
Definition at line 698 of file CPosePDFSOG.cpp.
References begin(), and mrpt::math::cov().
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
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inline |
Definition at line 72 of file CPosePDFSOG.h.
References m_modes.
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPosePDF.
Definition at line 405 of file CPosePDFSOG.cpp.
References ASSERT_, CLASS_ID, mrpt::math::cov(), mrpt::poses::CPosePDF::GetRuntimeClass(), m_modes, and mean().
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inlinestaticinherited |
Definition at line 98 of file CPosePDF.h.
References mrpt::poses::CPosePDF::is_3D_val.
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inlinestaticinherited |
Definition at line 103 of file CPosePDF.h.
References mrpt::poses::CPosePDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPosePDFGaussianInf.
Definition at line 120 of file CProbabilityDensityFunction.h.
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staticinherited |
This static method computes the pose composition Jacobians, with these formulas:
Definition at line 32 of file CPosePDF.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().
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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().
void CPosePDFSOG::mergeModes | ( | double | max_KLd = 0.5 , |
bool | verbose = false |
||
) |
Merge very close modes so the overall number of modes is reduced while preserving the total distribution.
This method uses the approach described in the paper:
max_KLd | The maximum KL-divergence to consider the merge of two nodes (and then stops the process). |
Definition at line 570 of file CPosePDFSOG.cpp.
References ASSERT_, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::math::cov(), mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mean(), MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::math::wrapToPiInPlace(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
void CPosePDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
Definition at line 519 of file CPosePDFSOG.cpp.
References MRPT_END, and MRPT_START.
Referenced by mrpt::tfest::se2_l2_robust().
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inlinenoexcept |
Definition at line 38 of file CPosePDFSOG.h.
Definition at line 38 of file CPosePDFSOG.h.
Definition at line 38 of file CPosePDFSOG.h.
Definition at line 38 of file CPosePDFSOG.h.
Definition at line 38 of file CPosePDFSOG.h.
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inlinenoexcept |
Definition at line 38 of file CPosePDFSOG.h.
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inline |
Definition at line 38 of file CPosePDFSOG.h.
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inline |
Definition at line 38 of file CPosePDFSOG.h.
void CPosePDFSOG::operator+= | ( | const mrpt::poses::CPose2D & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
Definition at line 429 of file CPosePDFSOG.cpp.
References mean(), and mrpt::poses::CPose2D::phi().
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inline |
Access to individual beacons.
Definition at line 94 of file CPosePDFSOG.h.
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inline |
Access to individual beacons.
Definition at line 100 of file CPosePDFSOG.h.
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inline |
Inserts a copy of the given mode into the SOG.
Definition at line 120 of file CPosePDFSOG.h.
References m_modes.
Referenced by mrpt::tfest::se2_l2_robust().
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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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 129 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), mean(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
void CPosePDFSOG::resize | ( | const size_t | N | ) |
Resize the number of SOG modes.
Definition at line 42 of file CPosePDFSOG.cpp.
Referenced by copyFrom().
void CPosePDFSOG::rotateAllCovariances | ( | const double & | ang | ) |
Rotate all the covariance matrixes by replacing them by , where .
Definition at line 277 of file CPosePDFSOG.cpp.
References mrpt::math::cov().
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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:
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
Definition at line 225 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and mean().
Referenced by mrpt::tfest::se2_l2_robust().
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inline |
Return the number of Gaussian modes.
Definition at line 87 of file CPosePDFSOG.h.
References m_modes.
Referenced by mrpt::tfest::se2_l2_robust().
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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.
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.
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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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 107 of file CPosePDFSOG.cpp.
References mrpt::math::cov(), and mean().
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staticprotected |
Definition at line 38 of file CPosePDFSOG.h.
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static |
Definition at line 38 of file CPosePDFSOG.h.
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protected |
The list of SOG modes.
Definition at line 79 of file CPosePDFSOG.h.
Referenced by begin(), empty(), end(), erase(), get(), getSOGModes(), inverse(), operator[](), push_back(), and size().
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staticprotected |
Definition at line 38 of file CPosePDFSOG.h.
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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.
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