MRPT  1.9.9
mrpt::maps::CBeacon Class Referenceabstract

Detailed Description

The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions.

This class is used for storage within the class CBeaconMap. The class implements the same methods than the interface "CPointPDF", and invoking them actually becomes a mapping into the methods of the current PDF representation of the beacon, selectable by means of "m_typePDF"

See also
CBeaconMap, CPointPDFSOG

Definition at line 35 of file CBeacon.h.

#include <mrpt/maps/CBeacon.h>

Inheritance diagram for mrpt::maps::CBeacon:

Public Types

enum  TTypePDF { pdfMonteCarlo = 0, pdfGauss, pdfSOG }
 See m_typePDF. More...
 
using TBeaconID = int64_t
 The type for the IDs of landmarks. More...
 
enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPoint3D
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPoint3D, STATE_LEN >
 
using cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
 Covariance matrix type. More...
 
using inf_mat_t = cov_mat_t
 Information matrix type. More...
 

Public Member Functions

void getMean (mrpt::poses::CPoint3D &mean_point) const override
 
std::tuple< cov_mat_t, type_valuegetCovarianceAndMean () const override
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
void copyFrom (const mrpt::poses::CPointPDF &o) override
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
bool saveToTextFile (const std::string &file) const override
 Save PDF's particles to a text file. More...
 
void changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase) override
 this = p (+) this. More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const
 Saves a 3D representation of the beacon into a given OpenGL scene. More...
 
void getAsMatlabDrawCommands (std::vector< std::string > &out_Str) const
 Gets a set of MATLAB commands which draw the current state of the beacon: More...
 
void drawSingleSample (mrpt::poses::CPoint3D &outSample) const override
 Draw a sample from the pdf. More...
 
void bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override
 Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More...
 
void generateObservationModelDistribution (const float &sensedRange, mrpt::poses::CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const mrpt::poses::CPoint3D &sensorPntOnRobot, const mrpt::poses::CPoint3D &centerPoint=mrpt::poses::CPoint3D(0, 0, 0), const float &maxDistanceFromCenter=0) const
 Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an approximate SOG. More...
 
virtual void bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0)=0
 Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) 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 , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. More...
 
virtual mxArraywriteToMatlab () 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 (type_value &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual void getCovarianceAndMean (cov_mat_t &c, CPoint3D &mean) const final
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
type_value 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 (cov_mat_t &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
cov_mat_t 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 (inf_mat_t &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 (CPoint3D &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...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static void generateRingSOG (const float &sensedRange, mrpt::poses::CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const mrpt::poses::CPoint3D &sensorPnt, const mrpt::math::CMatrixDouble33 *covarianceCompositionToAdd=nullptr, bool clearPreviousContentsOutPDF=true, const mrpt::poses::CPoint3D &centerPoint=mrpt::poses::CPoint3D(0, 0, 0), const float &maxDistanceFromCenter=0)
 This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time. More...
 
static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Public Attributes

TTypePDF m_typePDF {pdfGauss}
 Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians. More...
 
mrpt::poses::CPointPDFParticles m_locationMC {1}
 The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). More...
 
mrpt::poses::CPointPDFGaussian m_locationGauss
 The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). More...
 
mrpt::poses::CPointPDFSOG m_locationSOG {1}
 The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon). More...
 
TBeaconID m_ID {INVALID_BEACON_ID}
 An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. More...
 

Static Public Attributes

static constexpr 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

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CBeacon >
 
using ConstPtr = std::shared_ptr< const CBeacon >
 
using UniquePtr = std::unique_ptr< CBeacon >
 
using ConstUniquePtr = std::unique_ptr< const CBeacon >
 
static mrpt::rtti::CLASSINIT _init_CBeacon
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CBeacon"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 37 of file CBeacon.h.

◆ ConstUniquePtr

using mrpt::maps::CBeacon::ConstUniquePtr = std::unique_ptr<const CBeacon >

Definition at line 37 of file CBeacon.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>
inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ inf_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::inf_mat_t = cov_mat_t
inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 37 of file CBeacon.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint3D , STATE_LEN>
inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ TBeaconID

The type for the IDs of landmarks.

Definition at line 42 of file CBeacon.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::type_value = CPoint3D
inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::maps::CBeacon::UniquePtr = std::unique_ptr< CBeacon >

Definition at line 37 of file CBeacon.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 64 of file CPointPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 69 of file CPointPDF.h.

◆ TTypePDF

See m_typePDF.

Enumerator
pdfMonteCarlo 
pdfGauss 
pdfSOG 

Definition at line 46 of file CBeacon.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CBeacon::_GetBaseClass ( )
staticprotected

◆ bayesianFusion() [1/2]

virtual void mrpt::poses::CPointPDF::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double  minMahalanobisDistToDrop = 0 
)
pure virtualinherited

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implemented in mrpt::poses::CPointPDFSOG, mrpt::poses::CPointPDFGaussian, and mrpt::poses::CPointPDFParticles.

◆ bayesianFusion() [2/2]

void CBeacon::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double  minMahalanobisDistToDrop = 0 
)
override

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Definition at line 103 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CBeacon::changeCoordinatesReference ( const mrpt::poses::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::poses::CPointPDF.

Definition at line 197 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CBeacon::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CBeacon::copyFrom ( const mrpt::poses::CPointPDF o)
overridevirtual

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

Implements mrpt::poses::CPointPDF.

Definition at line 151 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ Create()

template<typename... Args>
static Ptr mrpt::maps::CBeacon::Create ( Args &&...  args)
inlinestatic

Definition at line 37 of file CBeacon.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::maps::CBeacon::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 37 of file CBeacon.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CBeacon::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::maps::CBeacon::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 37 of file CBeacon.h.

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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.

Definition at line 151 of file CProbabilityDensityFunction.h.

◆ drawSingleSample() [1/2]

void CBeacon::drawSingleSample ( mrpt::poses::CPoint3D outSample) const
override

Draw a sample from the pdf.

Definition at line 128 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ generateObservationModelDistribution()

void CBeacon::generateObservationModelDistribution ( const float &  sensedRange,
mrpt::poses::CPointPDFSOG outPDF,
const CBeaconMap myBeaconMap,
const mrpt::poses::CPoint3D sensorPntOnRobot,
const mrpt::poses::CPoint3D centerPoint = mrpt::poses::CPoint3D(0, 0, 0),
const float &  maxDistanceFromCenter = 0 
) const

Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an approximate SOG.

Note that if the beacon is a SOG itself, the number of gaussian modes will be square. As a speed-up, if a "center point"+"maxDistanceFromCenter" is supplied (maxDistanceFromCenter!=0), those modes farther than this sphere will be discarded. Parameters such as the stdSigma of the sensor are gathered from "myBeaconMap" The result is one "ring" for each Gaussian mode that represent the beacon position in this object. The position of the sensor on the robot is used to shift the resulting densities such as they represent the position of the robot, not the sensor.

See also
CBeaconMap::insertionOptions, generateRingSOG

Definition at line 396 of file CBeacon.cpp.

References ASSERT_, mrpt::poses::CPointPDFSOG::clear(), generateRingSOG(), mrpt::poses::CPointPDFSOG::get(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, MRPT_END, MRPT_START, mrpt::poses::CPointPDFSOG::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ generateRingSOG()

void CBeacon::generateRingSOG ( const float &  sensedRange,
mrpt::poses::CPointPDFSOG outPDF,
const CBeaconMap myBeaconMap,
const mrpt::poses::CPoint3D sensorPnt,
const mrpt::math::CMatrixDouble33 covarianceCompositionToAdd = nullptr,
bool  clearPreviousContentsOutPDF = true,
const mrpt::poses::CPoint3D centerPoint = mrpt::poses::CPoint3D(0, 0, 0),
const float &  maxDistanceFromCenter = 0 
)
static

This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time.

sensorPnt is the center of the ring/sphere, i.e. the absolute position of the range sensor. If clearPreviousContentsOutPDF=false, the SOG modes will be added to the current contents of outPDF If the 3x3 matrix covarianceCompositionToAdd is provided, it will be add to every Gaussian (to model the composition of uncertainty).

See also
generateObservationModelDistribution

Definition at line 458 of file CBeacon.cpp.

References ASSERT_, mrpt::poses::CPointPDFGaussian::cov, mrpt::DEG2RAD(), dir, mrpt::math::generateAxisBaseFromDirection(), mrpt::poses::CPointPDFSOG::get(), mrpt::maps::CBeaconMap::insertionOptions, mrpt::maps::CBeaconMap::likelihoodOptions, mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, M_2PIf, mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg, mrpt::poses::CPointPDFGaussian::mean, mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), R, mrpt::maps::CBeaconMap::TLikelihoodOptions::rangeStd, mrpt::poses::CPointPDFSOG::resize(), mrpt::poses::CPointPDFSOG::size(), mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians, mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant, mrpt::square(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by generateObservationModelDistribution(), and mrpt::maps::CBeaconMap::internal_insertObservation().

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◆ getAs3DObject() [1/3]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPointPDF::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 83 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/3]

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::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 94 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [3/3]

void CBeacon::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr outObj) const

Saves a 3D representation of the beacon into a given OpenGL scene.

Definition at line 220 of file CBeacon.cpp.

References mrpt::format(), MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::setSize(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getAsMatlabDrawCommands()

void CBeacon::getAsMatlabDrawCommands ( std::vector< std::string > &  out_Str) const

Gets a set of MATLAB commands which draw the current state of the beacon:

Definition at line 288 of file CBeacon.cpp.

References MRPT_END, MRPT_START, mrpt::system::os::sprintf(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getClassName()

static constexpr auto mrpt::maps::CBeacon::getClassName ( )
inlinestatic

Definition at line 37 of file CBeacon.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( cov_mat_t 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 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPoint3D &  mean 
) const
inlinefinalvirtualinherited

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 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [2/2]

std::tuple< CMatrixDouble33, CPoint3D > CBeacon::getCovarianceAndMean ( ) const
overridevirtual

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

See also
getMean, getInformationMatrix

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 83 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
type_value 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 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( inf_mat_t 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 130 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( type_value 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 CBeacon::getMean ( mrpt::poses::CPoint3D mean_point) const
override

Definition at line 63 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

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

See also
getCovariance, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CBeacon::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CBeacon::GetRuntimeClassIdStatic ( )
static

◆ is_3D()

static constexpr bool mrpt::poses::CPointPDF::is_3D ( )
inlinestaticinherited

Definition at line 68 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPointPDF::is_PDF ( )
inlinestaticinherited

Definition at line 73 of file CPointPDF.h.

References mrpt::poses::CPointPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPoint3D , 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

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ saveToTextFile()

bool CBeacon::saveToTextFile ( const std::string file) const
overridevirtual

Save PDF's particles to a text file.

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

Implements mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >.

Definition at line 174 of file CBeacon.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ serializeFrom() [1/2]

void CBeacon::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 43 of file CBeacon.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CBeacon::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 35 of file CBeacon.cpp.

◆ serializeTo() [1/2]

void CBeacon::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 36 of file CBeacon.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

Member Data Documentation

◆ _init_CBeacon

mrpt::rtti::CLASSINIT mrpt::maps::CBeacon::_init_CBeacon
staticprotected

Definition at line 37 of file CBeacon.h.

◆ className

constexpr const char* mrpt::maps::CBeacon::className = "CBeacon"
static

Definition at line 37 of file CBeacon.h.

◆ m_ID

TBeaconID mrpt::maps::CBeacon::m_ID {INVALID_BEACON_ID}

An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames.

Thus, the management of this field should be:

  • In 'servers' (classes/modules/... that detect landmarks from images): A different ID must be assigned to every landmark (e.g. a sequential counter), BUT only in the case of being sure of the correspondence of one landmark with another one in the past (e.g. tracking).
  • In 'clients': This field can be ignored, but if it is used, the advantage is solving the correspondence between landmarks detected in consequentive instants of time: Two landmarks with the same ID correspond to the same physical feature, BUT it should not be expected the inverse to be always true.

Note that this field is never fill out automatically, it must be set by the programmer if used.

Definition at line 91 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_locationGauss

mrpt::poses::CPointPDFGaussian mrpt::maps::CBeacon::m_locationGauss

The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon).

Definition at line 65 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_locationMC

mrpt::poses::CPointPDFParticles mrpt::maps::CBeacon::m_locationMC {1}

The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon).

Definition at line 62 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_locationSOG

mrpt::poses::CPointPDFSOG mrpt::maps::CBeacon::m_locationSOG {1}

The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in CBeacon).

Definition at line 68 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ m_typePDF

TTypePDF mrpt::maps::CBeacon::m_typePDF {pdfGauss}

Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians.

See also
m_location

Definition at line 57 of file CBeacon.h.

Referenced by mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CBeacon::runtimeClassId
staticprotected

Definition at line 37 of file CBeacon.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 32 of file CProbabilityDensityFunction.h.

Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().




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