MRPT  1.9.9
mrpt::poses::CPointPDFSOG Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D point $ p(\mathbf{x}) = [x ~ y ~ z ]^t $.

This class implements that PDF as the following multi-modal Gaussian distribution:

$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i ) $

Where the number of modes N is the size of CPointPDFSOG::m_modes

See mrpt::poses::CPointPDF for more details.

See also
CPointPDF, CPosePDF,

Definition at line 33 of file CPointPDFSOG.h.

#include <mrpt/poses/CPointPDFSOG.h>

Inheritance diagram for mrpt::poses::CPointPDFSOG:

Classes

struct  TGaussianMode
 The struct for each mode: More...
 

Public Types

using CListGaussianModes = std::deque< TGaussianMode >
 
using const_iterator = std::deque< TGaussianMode >::const_iterator
 
using iterator = std::deque< TGaussianMode >::iterator
 
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

 CPointPDFSOG (size_t nModes=1)
 Default constructor. More...
 
void clear ()
 Clear all the gaussian modes. More...
 
const TGaussianModeoperator[] (size_t i) const
 Access to individual beacons. More...
 
TGaussianModeoperator[] (size_t i)
 Access to individual beacons. More...
 
const TGaussianModeget (size_t i) const
 Access to individual beacons. More...
 
TGaussianModeget (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...
 
size_t size () const
 Return the number of Gaussian modes. More...
 
bool empty () const
 Return whether there is any Gaussian mode. More...
 
void getMean (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 normalizeWeights ()
 Normalize the weights in m_modes such as the maximum log-weight is 0. More...
 
void getMostLikelyMode (CPointPDFGaussian &outVal) const
 Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...
 
double ESS () const
 Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]). More...
 
void copyFrom (const 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 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 drawSingleSample (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 evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, mrpt::math::CMatrixD &outMatrix, bool sumOverAllZs=false)
 Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More...
 
double evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const
 Evaluates the PDF at a given point. 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 constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

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

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

Protected Attributes

CListGaussianModes m_modes
 The list of SOG modes. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPointPDFSOG >
 
using ConstPtr = std::shared_ptr< const CPointPDFSOG >
 
using UniquePtr = std::unique_ptr< CPointPDFSOG >
 
using ConstUniquePtr = std::unique_ptr< const CPointPDFSOG >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPointPDFSOG"
 
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

◆ CListGaussianModes

Definition at line 50 of file CPointPDFSOG.h.

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 35 of file CPointPDFSOG.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

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ iterator

Definition at line 52 of file CPointPDFSOG.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 35 of file CPointPDFSOG.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.

◆ type_value

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 35 of file CPointPDFSOG.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.

Constructor & Destructor Documentation

◆ CPointPDFSOG()

CPointPDFSOG::CPointPDFSOG ( size_t  nModes = 1)

Default constructor.

Parameters
nModesThe initial size of CPointPDFSOG::m_modes

Definition at line 36 of file CPointPDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDFSOG::_GetBaseClass ( )
staticprotected

◆ bayesianFusion()

void CPointPDFSOG::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double  minMahalanobisDistToDrop = 0 
)
overridevirtual

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.

Implements mrpt::poses::CPointPDF.

Definition at line 250 of file CPointPDFSOG.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, mrpt::poses::CPointPDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPointPDFGaussian::cov, mrpt::math::MatrixBase< Scalar, Derived >::det(), mrpt::poses::CPointPDF::GetRuntimeClass(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::square(), mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ begin() [1/2]

iterator mrpt::poses::CPointPDFSOG::begin ( )
inline

Definition at line 100 of file CPointPDFSOG.h.

References m_modes.

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

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◆ begin() [2/2]

const_iterator mrpt::poses::CPointPDFSOG::begin ( ) const
inline

Definition at line 102 of file CPointPDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPointPDFSOG::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::poses::CPointPDF.

Definition at line 201 of file CPointPDFSOG.cpp.

◆ clear()

void CPointPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 40 of file CPointPDFSOG.cpp.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPointPDFSOG::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPointPDFSOG::copyFrom ( const CPointPDF o)
overridevirtual

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

Implements mrpt::poses::CPointPDF.

Definition at line 159 of file CPointPDFSOG.cpp.

References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPointPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.

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◆ Create()

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

Definition at line 35 of file CPointPDFSOG.h.

◆ CreateAlloc()

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

Definition at line 35 of file CPointPDFSOG.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPointPDFSOG::CreateObject ( )
static

◆ CreateUnique()

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

Definition at line 35 of file CPointPDFSOG.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]

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

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void CPointPDFSOG::drawSingleSample ( CPoint3D outSample) const
override

Draw a sample from the pdf.

Definition at line 209 of file CPointPDFSOG.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::math::CVectorDynamic< T >::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ 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 191 of file CObject.h.

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

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

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◆ empty()

bool mrpt::poses::CPointPDFSOG::empty ( ) const
inline

Return whether there is any Gaussian mode.

Definition at line 110 of file CPointPDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPointPDFSOG::end ( )
inline

Definition at line 101 of file CPointPDFSOG.h.

References m_modes.

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

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◆ end() [2/2]

const_iterator mrpt::poses::CPointPDFSOG::end ( ) const
inline

Definition at line 103 of file CPointPDFSOG.h.

References m_modes.

◆ enforceCovSymmetry()

void CPointPDFSOG::enforceCovSymmetry ( )
protected

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

Definition at line 390 of file CPointPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ erase()

iterator mrpt::poses::CPointPDFSOG::erase ( iterator  i)
inline

Definition at line 104 of file CPointPDFSOG.h.

References m_modes.

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

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◆ ESS()

double CPointPDFSOG::ESS ( ) const

Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).

Definition at line 427 of file CPointPDFSOG.cpp.

References MRPT_END, MRPT_START, and mrpt::square().

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ evaluatePDF()

double CPointPDFSOG::evaluatePDF ( const CPoint3D x,
bool  sumOverAllZs 
) const

Evaluates the PDF at a given point.

Definition at line 482 of file CPointPDFSOG.cpp.

References mrpt::math::normalPDF().

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◆ evaluatePDFInArea()

void CPointPDFSOG::evaluatePDFInArea ( float  x_min,
float  x_max,
float  y_min,
float  y_max,
float  resolutionXY,
float  z,
mrpt::math::CMatrixD outMatrix,
bool  sumOverAllZs = false 
)

Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

Definition at line 452 of file CPointPDFSOG.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::CMatrixDynamic< T >::setSize().

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◆ get() [1/2]

const TGaussianMode& mrpt::poses::CPointPDFSOG::get ( size_t  i) const
inline

Access to individual beacons.

Definition at line 86 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ get() [2/2]

TGaussianMode& mrpt::poses::CPointPDFSOG::get ( size_t  i)
inline

Access to individual beacons.

Definition at line 92 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

◆ getAs3DObject() [1/2]

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() [2/2]

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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◆ getClassName()

static constexpr auto mrpt::poses::CPointPDFSOG::getClassName ( )
inlinestatic

Definition at line 35 of file CPointPDFSOG.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 > CPointPDFSOG::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 81 of file CPointPDFSOG.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

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

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◆ 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 CPointPDFSOG::getMean ( CPoint3D mean_point) const
override

Definition at line 50 of file CPointPDFSOG.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ 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.

◆ getMostLikelyMode()

void CPointPDFSOG::getMostLikelyMode ( CPointPDFGaussian outVal) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

Definition at line 528 of file CPointPDFSOG.cpp.

References mrpt::containers::empty().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDFSOG::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::poses::CPointPDFSOG::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.

◆ normalizeWeights()

void CPointPDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

Definition at line 408 of file CPointPDFSOG.cpp.

References MRPT_END, and MRPT_START.

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

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◆ operator[]() [1/2]

const TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] ( size_t  i) const
inline

Access to individual beacons.

Definition at line 73 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

◆ operator[]() [2/2]

TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] ( size_t  i)
inline

Access to individual beacons.

Definition at line 79 of file CPointPDFSOG.h.

References ASSERT_, and m_modes.

◆ push_back()

void mrpt::poses::CPointPDFSOG::push_back ( const TGaussianMode m)
inline

Inserts a copy of the given mode into the SOG.

Definition at line 99 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ resize()

void CPointPDFSOG::resize ( const size_t  N)

Resize the number of SOG modes.

Definition at line 44 of file CPointPDFSOG.cpp.

Referenced by mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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◆ saveToTextFile()

bool CPointPDFSOG::saveToTextFile ( const std::string file) const
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:

  • w (The weight)
  • x_mean (gaussian mean value)
  • y_mean (gaussian mean value)
  • x_mean (gaussian mean value)
  • C11 (Covariance elements)
  • C22 (Covariance elements)
  • C33 (Covariance elements)
  • C12 (Covariance elements)
  • C13 (Covariance elements)
  • C23 (Covariance elements)

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

Definition at line 183 of file CPointPDFSOG.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

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◆ serializeFrom() [1/2]

void CPointPDFSOG::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 131 of file CPointPDFSOG.cpp.

References mrpt::math::deserializeSymmetricMatrixFrom(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ 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 CPointPDFSOG::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 119 of file CPointPDFSOG.cpp.

◆ serializeTo() [1/2]

void CPointPDFSOG::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 120 of file CPointPDFSOG.cpp.

References mrpt::math::serializeSymmetricMatrixTo().

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◆ 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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◆ size()

size_t mrpt::poses::CPointPDFSOG::size ( ) const
inline

Return the number of Gaussian modes.

Definition at line 108 of file CPointPDFSOG.h.

References m_modes.

Referenced by mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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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

◆ className

constexpr const char* mrpt::poses::CPointPDFSOG::className = "CPointPDFSOG"
static

Definition at line 35 of file CPointPDFSOG.h.

◆ m_modes

CListGaussianModes mrpt::poses::CPointPDFSOG::m_modes
protected

The list of SOG modes.

Definition at line 61 of file CPointPDFSOG.h.

Referenced by begin(), empty(), end(), erase(), get(), operator[](), push_back(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPointPDFSOG::runtimeClassId
staticprotected

Definition at line 35 of file CPointPDFSOG.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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