Detailed Description

An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf).

This class keeps an internal state which speeds up the sequential generation of samples. It can manage any kind of pose PDF.

Use with CPoseRandomSampler::setPosePDF, then CPoseRandomSampler::drawSample to draw values.

Notice that you can pass a 2D or 3D pose PDF, then ask for a 2D or 3D sample. This class always returns the kind of sample you ask it for, but will skip missing terms or fill out with zeroes as required. Specifically, when sampling 3D poses from a 2D pose pdf, this class will be smart enought to draw only the 3 required dimensions, avoiding a waste of time with the other 3 missing components.

See also: CPosePDF, CPose3DPDF

Definition at line 45 of file CPoseRandomSampler.h.

#include <mrpt/poses/CPoseRandomSampler.h>

Public Member Functions
	CPoseRandomSampler ()
	Default constructor. More...

	CPoseRandomSampler (const CPoseRandomSampler &o)

CPoseRandomSampler &	operator= (const CPoseRandomSampler &o)

	CPoseRandomSampler (CPoseRandomSampler &&o)

CPoseRandomSampler &	operator= (CPoseRandomSampler &&o)

void	setPosePDF (const CPosePDF *pdf)
	This method must be called to select the PDF from which to draw samples. More...

void	setPosePDF (const CPosePDF::Ptr &pdf)
	This method must be called to select the PDF from which to draw samples. More...

void	setPosePDF (const CPosePDF &pdf)
	This method must be called to select the PDF from which to draw samples. More...

void	setPosePDF (const CPose3DPDF *pdf)
	This method must be called to select the PDF from which to draw samples. More...

void	setPosePDF (const CPose3DPDF::Ptr &pdf)
	This method must be called to select the PDF from which to draw samples. More...

void	setPosePDF (const CPose3DPDF &pdf)
	This method must be called to select the PDF from which to draw samples. More...

CPose2D &	drawSample (CPose2D &p) const
	Generate a new sample from the selected PDF. More...

CPose3D &	drawSample (CPose3D &p) const
	Generate a new sample from the selected PDF. More...

bool	isPrepared () const
	Return true if samples can be generated, which only requires a previous call to setPosePDF. More...

CPose2D &	getSamplingMean2D (CPose2D &out_mean) const
	If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be drawn around. More...

CPose3D &	getSamplingMean3D (CPose3D &out_mean) const
	If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be drawn around. More...

void	getOriginalPDFCov2D (mrpt::math::CMatrixDouble33 &cov3x3) const
	Retrieves the 3x3 covariance of the original PDF in $[ x ~ y ~ \phi ]$ . More...

void	getOriginalPDFCov2D (mrpt::math::CMatrixDouble &cov3x3) const
	Retrieves the 3x3 covariance of the original PDF in $[ x ~ y ~ \phi ]$ . More...

void	getOriginalPDFCov3D (mrpt::math::CMatrixDouble66 &cov6x6) const
	Retrieves the 6x6 covariance of the original PDF in . More...

void	getOriginalPDFCov3D (mrpt::math::CMatrixDouble &cov6x6) const
	Retrieves the 6x6 covariance of the original PDF in . More...

Protected Member Functions
void	clear ()
	Clear internal pdf. More...

void	do_sample_2D (CPose2D &p) const
	Used internally: sample from m_pdf2D. More...

void	do_sample_3D (CPose3D &p) const
	Used internally: sample from m_pdf3D. More...

Protected Attributes
std::unique_ptr< const CPosePDF >	m_pdf2D
	A local copy of the PDF. More...

std::unique_ptr< const CPose3DPDF >	m_pdf3D
	A local copy of the PDF. More...

mrpt::math::CMatrixDouble33	m_fastdraw_gauss_Z3

mrpt::math::CMatrixDouble66	m_fastdraw_gauss_Z6

CPose2D	m_fastdraw_gauss_M_2D

CPose3D	m_fastdraw_gauss_M_3D

Constructor & Destructor Documentation

◆ CPoseRandomSampler() [1/3]

CPoseRandomSampler::CPoseRandomSampler ( )

Default constructor.

Definition at line 30 of file CPoseRandomSampler.cpp.

◆ CPoseRandomSampler() [2/3]

CPoseRandomSampler::CPoseRandomSampler ( const CPoseRandomSampler & o )

Definition at line 31 of file CPoseRandomSampler.cpp.

References m_fastdraw_gauss_M_2D, m_fastdraw_gauss_M_3D, m_fastdraw_gauss_Z3, m_fastdraw_gauss_Z6, m_pdf2D, and m_pdf3D.

◆ CPoseRandomSampler() [3/3]

CPoseRandomSampler::CPoseRandomSampler ( CPoseRandomSampler && o )

Definition at line 59 of file CPoseRandomSampler.cpp.

References m_fastdraw_gauss_M_2D, m_fastdraw_gauss_M_3D, m_fastdraw_gauss_Z3, m_fastdraw_gauss_Z6, m_pdf2D, and m_pdf3D.

Member Function Documentation

◆ clear()

void CPoseRandomSampler::clear ( )

protected

Clear internal pdf.

Definition at line 101 of file CPoseRandomSampler.cpp.

References m_pdf2D, and m_pdf3D.

Referenced by operator=(), and setPosePDF().

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◆ do_sample_2D()

void CPoseRandomSampler::do_sample_2D ( CPose2D & p ) const

protected

Used internally: sample from m_pdf2D.

Definition at line 258 of file CPoseRandomSampler.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::poses::CPosePDFParticles::drawSingleSample(), mrpt::random::getRandomGenerator(), IS_CLASS, m_fastdraw_gauss_M_2D, m_fastdraw_gauss_Z3, m_pdf2D, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by drawSample().

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◆ do_sample_3D()

void CPoseRandomSampler::do_sample_3D ( CPose3D & p ) const

protected

Used internally: sample from m_pdf3D.

Definition at line 309 of file CPoseRandomSampler.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::poses::CPose3DPDFParticles::drawSingleSample(), mrpt::random::getRandomGenerator(), IS_CLASS, m_fastdraw_gauss_M_3D, m_fastdraw_gauss_Z6, m_pdf3D, MRPT_END, MRPT_START, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by drawSample().

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◆ drawSample() [1/2]

CPose2D & CPoseRandomSampler::drawSample ( CPose2D & p ) const

Generate a new sample from the selected PDF.

Returns: A reference to the same object passed as argument.

See also: setPosePDF

Definition at line 208 of file CPoseRandomSampler.cpp.

References do_sample_2D(), do_sample_3D(), m_pdf2D, m_pdf3D, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().

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◆ drawSample() [2/2]

CPose3D & CPoseRandomSampler::drawSample ( CPose3D & p ) const

Generate a new sample from the selected PDF.

Returns: A reference to the same object passed as argument.

See also: setPosePDF

Definition at line 234 of file CPoseRandomSampler.cpp.

References do_sample_2D(), do_sample_3D(), m_pdf2D, m_pdf3D, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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◆ getOriginalPDFCov2D() [1/2]

void CPoseRandomSampler::getOriginalPDFCov2D ( mrpt::math::CMatrixDouble33 & cov3x3 ) const

Retrieves the 3x3 covariance of the original PDF in $[ x ~ y ~ \phi ]$ .

Definition at line 367 of file CPoseRandomSampler.cpp.

References ASSERT_, mrpt::poses::CPosePDFGaussian::copyFrom(), mrpt::poses::CPosePDFGaussian::cov, isPrepared(), m_pdf2D, m_pdf3D, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and getOriginalPDFCov2D().

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◆ getOriginalPDFCov2D() [2/2]

void mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D ( mrpt::math::CMatrixDouble & cov3x3 ) const

inline

Retrieves the 3x3 covariance of the original PDF in $[ x ~ y ~ \phi ]$ .

Definition at line 136 of file CPoseRandomSampler.h.

References getOriginalPDFCov2D().

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◆ getOriginalPDFCov3D() [1/2]

void CPoseRandomSampler::getOriginalPDFCov3D ( mrpt::math::CMatrixDouble66 & cov6x6 ) const

Retrieves the 6x6 covariance of the original PDF in $ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] $ .

Definition at line 391 of file CPoseRandomSampler.cpp.

References ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, isPrepared(), m_pdf2D, m_pdf3D, MRPT_END, and MRPT_START.

Referenced by getOriginalPDFCov3D().

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◆ getOriginalPDFCov3D() [2/2]

void mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D ( mrpt::math::CMatrixDouble & cov6x6 ) const

inline

Retrieves the 6x6 covariance of the original PDF in $ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] $ .

Definition at line 149 of file CPoseRandomSampler.h.

References getOriginalPDFCov3D().

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◆ getSamplingMean2D()

CPose2D & CPoseRandomSampler::getSamplingMean2D ( CPose2D & out_mean ) const

If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be drawn around.

Returns: A reference to the argument

Definition at line 414 of file CPoseRandomSampler.cpp.

References ASSERT_, isPrepared(), m_fastdraw_gauss_M_2D, m_fastdraw_gauss_M_3D, m_pdf2D, MRPT_END, and MRPT_START.

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◆ getSamplingMean3D()

CPose3D & CPoseRandomSampler::getSamplingMean3D ( CPose3D & out_mean ) const

If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be drawn around.

Returns: A reference to the argument

Definition at line 431 of file CPoseRandomSampler.cpp.

References ASSERT_, isPrepared(), m_fastdraw_gauss_M_2D, m_fastdraw_gauss_M_3D, m_pdf3D, MRPT_END, and MRPT_START.

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◆ isPrepared()

bool CPoseRandomSampler::isPrepared ( ) const

Return true if samples can be generated, which only requires a previous call to setPosePDF.

Definition at line 363 of file CPoseRandomSampler.cpp.

References m_pdf2D, and m_pdf3D.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), getOriginalPDFCov2D(), getOriginalPDFCov3D(), getSamplingMean2D(), and getSamplingMean3D().

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◆ operator=() [1/2]

CPoseRandomSampler & CPoseRandomSampler::operator= ( const CPoseRandomSampler & o )

Definition at line 43 of file CPoseRandomSampler.cpp.

References m_fastdraw_gauss_M_2D, m_fastdraw_gauss_M_3D, m_fastdraw_gauss_Z3, m_fastdraw_gauss_Z6, m_pdf2D, and m_pdf3D.

◆ operator=() [2/2]

CPoseRandomSampler & CPoseRandomSampler::operator= ( CPoseRandomSampler && o )

Definition at line 77 of file CPoseRandomSampler.cpp.

References clear(), m_fastdraw_gauss_M_2D, m_fastdraw_gauss_M_3D, m_fastdraw_gauss_Z3, m_fastdraw_gauss_Z6, m_pdf2D, and m_pdf3D.

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◆ setPosePDF() [1/6]

void CPoseRandomSampler::setPosePDF ( const CPosePDF * pdf )

This method must be called to select the PDF from which to draw samples.

See also: drawSample

Computes the eigenvalues/eigenvector decomposition of this matrix, so that: M = Z · D · Z^T, where columns in Z are the eigenvectors and the diagonal matrix D contains the eigenvalues as diagonal elements, sorted in ascending order.

Definition at line 110 of file CPoseRandomSampler.cpp.

References clear(), mrpt::utils::CObject::clone(), mrpt::poses::CPosePDFGaussian::cov, mrpt::math::cov(), IS_CLASS, m_fastdraw_gauss_M_2D, m_fastdraw_gauss_Z3, m_pdf2D, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and setPosePDF().

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◆ setPosePDF() [2/6]

void CPoseRandomSampler::setPosePDF ( const CPosePDF::Ptr & pdf )

This method must be called to select the PDF from which to draw samples.

See also: drawSample

Definition at line 200 of file CPoseRandomSampler.cpp.

References setPosePDF().

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◆ setPosePDF() [3/6]

void mrpt::poses::CPoseRandomSampler::setPosePDF ( const CPosePDF & pdf )

inline

This method must be called to select the PDF from which to draw samples.

See also: drawSample

Definition at line 89 of file CPoseRandomSampler.h.

References setPosePDF().

Referenced by setPosePDF().

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◆ setPosePDF() [4/6]

void CPoseRandomSampler::setPosePDF ( const CPose3DPDF * pdf )

This method must be called to select the PDF from which to draw samples.

See also: drawSample

Computes the eigenvalues/eigenvector decomposition of this matrix, so that: M = Z · D · Z^T, where columns in Z are the eigenvectors and the diagonal matrix D contains the eigenvalues as diagonal elements, sorted in ascending order.

Definition at line 154 of file CPoseRandomSampler.cpp.

References clear(), mrpt::utils::CObject::clone(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::cov(), IS_CLASS, m_fastdraw_gauss_M_3D, m_fastdraw_gauss_Z6, m_pdf3D, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.