MRPT  1.9.9
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mrpt::poses::CPose3DPDFGrid Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a SE(3) pose (x,y,z, yaw, pitch, roll), in the form of a 6-dimensional grid of "voxels".

See also
CPose3D, CPose3DPDF, CPose3DGridTemplate

Definition at line 25 of file CPose3DPDFGrid.h.

#include <mrpt/poses/CPose3DPDFGrid.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGrid:

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPose3D
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPose3D, 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

 CPose3DPDFGrid (const mrpt::math::TPose3D &bb_min=mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 *M_PI, -.5 *M_PI), const mrpt::math::TPose3D &bb_max=mrpt::math::TPose3D(1., 1., 1., M_PI,.5 *M_PI,.5 *M_PI), double resolution_XYZ=0.10, double resolution_YPR=mrpt::DEG2RAD(10.0))
 Constructor: Initializes a, uniform distribution over the whole given range, given by a "rectangular" (6D) bounding box. More...
 
 ~CPose3DPDFGrid () override=default
 Destructor. More...
 
void copyFrom (const CPose3DPDF &o) override
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void normalize ()
 Normalizes the PDF, such as all voxels sum the unity. More...
 
void uniformDistribution ()
 Assigns the same value to all the cells in the grid, so the sum 1. More...
 
void getMean (CPose3D &mean_pose) 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...
 
bool saveToTextFile (const std::string &dataFile) const override
 Save the contents of the 3D grid in one file, as a concatenation of (X,Y) slices. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) override
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
 Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc) More...
 
void inverse (CPose3DPDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
void drawSingleSample (CPose3D &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 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. 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 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, CPose3D &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 (CPose3D &outPart) const=0
 Draws a single sample from the distribution. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 
void setSize (const mrpt::math::TPose3D &bb_min, const mrpt::math::TPose3D &bb_max, double resolution_XYZ, double resolution_YPR)
 Changes the limits and size of the grid, erasing previous contents: More...
 
const double * getByPos (double x, double y, double z, double yaw, double pitch, double roll) const
 Reads the contents of a cell. More...
 
double * getByPos (double x, double y, double z, double yaw, double pitch, double roll)
 
const double * getByPos (const mrpt::math::TPose3D &p) const
 
double * getByPos (const mrpt::math::TPose3D &p)
 
const double * getByIndex (int cx, int cy, int cz, int cY, int cP, int cR) const
 Reads the contents of a cell. More...
 
double * getByIndex (int cx, int cy, int cz, int cY, int cP, int cR)
 
void getAsMatrix (MATRIXLIKE &outMat, const double z, const double yaw, const double pitch, const double roll) const
 Returns a XY slice of the grid, for given constant z,yaw, pitch and roll. More...
 
mrpt::math::TPose3D getMinBoundingBox () const
 Get info about the 6D grid. More...
 
mrpt::math::TPose3D getMaxBoundingBox () const
 
double getResolutionXYZ () const
 
double getResolutionAngles () const
 
void fill (const double &val)
 
auto getSizeX () const
 
auto getSizeY () const
 
auto getSizeZ () const
 
auto getSizeYaw () const
 
auto getSizePitch () const
 
auto getSizeRoll () const
 
auto getTotalVoxelCount () const
 
const std::vector< double > & getData () const
 
std::vector< double > & getData ()
 
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...
 
Return "indexes" from coordinates
int x2idx (double x) const
 
int y2idx (double y) const
 
int z2idx (double z) const
 
int yaw2idx (double yaw) const
 
int pitch2idx (double pitch) const
 
int roll2idx (double roll) const
 
Return coordinates from "indexes"
double idx2x (uint32_t cx) const
 
double idx2y (uint32_t cy) const
 
double idx2z (uint32_t cz) const
 
double idx2yaw (uint32_t cY) const
 
double idx2pitch (uint32_t cP) const
 
double idx2roll (uint32_t cR) const
 

Static Public Member Functions

static CPose3DPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) More...
 
static void jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
 This static method computes the pose composition Jacobians. More...
 
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 Types

using self_t = CPose3DGridTemplate< double >
 

Protected Member Functions

void update_cached_size_products ()
 
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

mrpt::math::TPose3D m_bb_min
 
mrpt::math::TPose3D m_bb_max
 
double m_resolutionXYZ
 Resolution of the grid. More...
 
double m_resolutionYPR
 
uint32_t m_sizeX
 
uint32_t m_sizeY
 
uint32_t m_sizeZ
 
uint32_t m_sizeYaw
 
uint32_t m_sizePitch
 
uint32_t m_sizeRoll
 
uint32_t m_size_xy
 
uint32_t m_size_xyz
 
uint32_t m_size_xyzY
 
uint32_t m_size_xyzYP
 
uint32_t m_size_xyzYPR
 
int m_min_cidX
 Minimum "cell indexes" for each coordinate. More...
 
int m_min_cidY
 
int m_min_cidZ
 
int m_min_cidYaw
 
int m_min_cidPitch
 
int m_min_cidRoll
 
std::vector< double > m_data
 The data. More...
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::poses ::CPose3DPDFGrid >
 
using ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DPDFGrid >
 
using UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DPDFGrid >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DPDFGrid >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::poses" "::" "CPose3DPDFGrid"
 
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 27 of file CPose3DPDFGrid.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DPDFGrid::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DPDFGrid >

Definition at line 27 of file CPose3DPDFGrid.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ Ptr

A type for the associated smart pointer

Definition at line 27 of file CPose3DPDFGrid.h.

◆ self_t [1/2]

using mrpt::poses::CPose3DGridTemplate< double >::self_t = CPose3DGridTemplate<double >
protectedinherited

Definition at line 26 of file CPose3DGridTemplate.h.

◆ self_t [2/2]

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3D , 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

using mrpt::poses::CPose3DPDFGrid::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DPDFGrid >

Definition at line 27 of file CPose3DPDFGrid.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 101 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 106 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGrid()

CPose3DPDFGrid::CPose3DPDFGrid ( const mrpt::math::TPose3D bb_min = mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 * M_PI, -.5 * M_PI),
const mrpt::math::TPose3D bb_max = mrpt::math::TPose3D(1., 1., 1., M_PI, .5 * M_PI, .5 * M_PI),
double  resolution_XYZ = 0.10,
double  resolution_YPR = mrpt::DEG2RAD(10.0) 
)

Constructor: Initializes a, uniform distribution over the whole given range, given by a "rectangular" (6D) bounding box.

Definition at line 29 of file CPose3DPDFGrid.cpp.

◆ ~CPose3DPDFGrid()

mrpt::poses::CPose3DPDFGrid::~CPose3DPDFGrid ( )
overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGrid::_GetBaseClass ( )
staticprotected

◆ bayesianFusion()

void CPose3DPDFGrid::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
overridevirtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc)

Implements mrpt::poses::CPose3DPDF.

Definition at line 158 of file CPose3DPDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPose3DPDFGrid::changeCoordinatesReference ( const CPose3D newReferenceBase)
overridevirtual

Implements mrpt::poses::CPose3DPDF.

Definition at line 152 of file CPose3DPDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFGrid::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPose3DPDFGrid::copyFrom ( const CPose3DPDF o)
overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 38 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPose3DPDFGrid::Create ( Args &&...  args)
inlinestatic

Definition at line 27 of file CPose3DPDFGrid.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPose3DPDFGrid::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 27 of file CPose3DPDFGrid.h.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)

Warning
It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.
See also
copyFrom

Definition at line 49 of file CPose3DPDF.cpp.

References ASSERT_, CLASS_ID, cov2to3(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

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◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DPDFGrid::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPose3DPDFGrid::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 27 of file CPose3DPDFGrid.h.

◆ drawManySamples()

void CPose3DPDFGrid::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
overridevirtual

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 177 of file CPose3DPDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFGrid::drawSingleSample ( CPose3D outPart) const
override

Draws a single sample from the distribution.

Note
Precondition: voxel weights are assumed to be normalized.

Definition at line 171 of file CPose3DPDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D &  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 204 of file CObject.h.

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

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

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◆ fill()

void mrpt::poses::CPose3DGridTemplate< double >::fill ( const double &  val)
inlineinherited

Definition at line 281 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_data, and val.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DPDF::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()
See also
mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 122 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 133 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAsMatrix()

void mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix ( MATRIXLIKE &  outMat,
const double  z,
const double  yaw,
const double  pitch,
const double  roll 
) const
inlineinherited

◆ getByIndex() [1/2]

const double * mrpt::poses::CPose3DGridTemplate< double >::getByIndex ( int  cx,
int  cy,
int  cz,
int  cY,
int  cP,
int  cR 
) const
inlineinherited

◆ getByIndex() [2/2]

double * mrpt::poses::CPose3DGridTemplate< double >::getByIndex ( int  cx,
int  cy,
int  cz,
int  cY,
int  cP,
int  cR 
)
inlineinherited

◆ getByPos() [1/4]

const double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll 
) const
inlineinherited

◆ getByPos() [2/4]

double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll 
)
inlineinherited

◆ getByPos() [3/4]

const double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( const mrpt::math::TPose3D p) const
inlineinherited

◆ getByPos() [4/4]

double * mrpt::poses::CPose3DGridTemplate< double >::getByPos ( const mrpt::math::TPose3D p)
inlineinherited

◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFGrid::getClassName ( )
inlinestatic

Definition at line 27 of file CPose3DPDFGrid.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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< CPose3D , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPose3D &  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< CMatrixDouble66, CPose3D > CPose3DPDFGrid::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< CPose3D, 6 >.

Definition at line 68 of file CPose3DPDFGrid.cpp.

References mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, and mrpt::poses::CPose3DPDFParticles::resetDeterministic().

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◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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.

◆ getData() [1/2]

const std::vector<double >& mrpt::poses::CPose3DGridTemplate< double >::getData ( ) const
inlineinherited

◆ getData() [2/2]

std::vector<double >& mrpt::poses::CPose3DGridTemplate< double >::getData ( )
inlineinherited

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ getMaxBoundingBox()

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::getMaxBoundingBox ( ) const
inlineinherited

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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 CPose3DPDFGrid::getMean ( CPose3D mean_pose) const
override

Definition at line 45 of file CPose3DPDFGrid.cpp.

References mrpt::poses::SE_average< 3 >::append(), and mrpt::poses::SE_average< 3 >::get_average().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ getMinBoundingBox()

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::getMinBoundingBox ( ) const
inlineinherited

Get info about the 6D grid.

Definition at line 275 of file CPose3DGridTemplate.h.

References mrpt::poses::CPose3DGridTemplate< T >::m_bb_min.

◆ getResolutionAngles()

double mrpt::poses::CPose3DGridTemplate< double >::getResolutionAngles ( ) const
inlineinherited

◆ getResolutionXYZ()

double mrpt::poses::CPose3DGridTemplate< double >::getResolutionXYZ ( ) const
inlineinherited

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFGrid::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFGrid::GetRuntimeClassIdStatic ( )
static

◆ getSizePitch()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizePitch ( ) const
inlineinherited

◆ getSizeRoll()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeRoll ( ) const
inlineinherited

◆ getSizeX()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeX ( ) const
inlineinherited

◆ getSizeY()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeY ( ) const
inlineinherited

◆ getSizeYaw()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeYaw ( ) const
inlineinherited

◆ getSizeZ()

auto mrpt::poses::CPose3DGridTemplate< double >::getSizeZ ( ) const
inlineinherited

◆ getTotalVoxelCount()

auto mrpt::poses::CPose3DGridTemplate< double >::getTotalVoxelCount ( ) const
inlineinherited

◆ idx2pitch()

double mrpt::poses::CPose3DGridTemplate< double >::idx2pitch ( uint32_t  cP) const
inlineinherited

◆ idx2roll()

double mrpt::poses::CPose3DGridTemplate< double >::idx2roll ( uint32_t  cR) const
inlineinherited

◆ idx2x()

double mrpt::poses::CPose3DGridTemplate< double >::idx2x ( uint32_t  cx) const
inlineinherited

◆ idx2y()

double mrpt::poses::CPose3DGridTemplate< double >::idx2y ( uint32_t  cy) const
inlineinherited

◆ idx2yaw()

double mrpt::poses::CPose3DGridTemplate< double >::idx2yaw ( uint32_t  cY) const
inlineinherited

◆ idx2z()

double mrpt::poses::CPose3DGridTemplate< double >::idx2z ( uint32_t  cz) const
inlineinherited

◆ inverse()

void CPose3DPDFGrid::inverse ( CPose3DPDF o) const
overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 165 of file CPose3DPDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ is_3D()

static constexpr bool mrpt::poses::CPose3DPDF::is_3D ( )
inlinestaticinherited

Definition at line 105 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose3DPDF::is_PDF ( )
inlinestaticinherited

Definition at line 110 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See also
mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
mrpt::math::CMatrixDouble66 df_dx,
mrpt::math::CMatrixDouble66 df_du 
)
staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D) U(6D)
| |
v v
X(7D) U(7D)
| |
+--- (+) ---+
|
v
RES(7D)
|
v
RES(6D)

Definition at line 129 of file CPose3DPDF.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ normalize()

void CPose3DPDFGrid::normalize ( )

Normalizes the PDF, such as all voxels sum the unity.

Definition at line 186 of file CPose3DPDFGrid.cpp.

◆ pitch2idx()

int mrpt::poses::CPose3DGridTemplate< double >::pitch2idx ( double  pitch) const
inlineinherited

◆ roll2idx()

int mrpt::poses::CPose3DGridTemplate< double >::roll2idx ( double  roll) const
inlineinherited

◆ saveToTextFile()

bool CPose3DPDFGrid::saveToTextFile ( const std::string dataFile) const
overridevirtual

Save the contents of the 3D grid in one file, as a concatenation of (X,Y) slices.

The size in X,Y,and the values for Z,yaw, pitch, roll, PHI are stored in another file named <filename>_dims.txt

Returns
false on error

Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 145 of file CPose3DPDFGrid.cpp.

References THROW_EXCEPTION.

◆ serializeFrom() [1/2]

void CPose3DPDFGrid::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 113 of file CPose3DPDFGrid.cpp.

References ASSERT_EQUAL_, and 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 CPose3DPDFGrid::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 94 of file CPose3DPDFGrid.cpp.

◆ serializeTo() [1/2]

void CPose3DPDFGrid::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 95 of file CPose3DPDFGrid.cpp.

References out.

◆ 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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◆ setSize()

void mrpt::poses::CPose3DGridTemplate< double >::setSize ( const mrpt::math::TPose3D bb_min,
const mrpt::math::TPose3D bb_max,
double  resolution_XYZ,
double  resolution_YPR 
)
inlineinherited

◆ uniformDistribution()

void CPose3DPDFGrid::uniformDistribution ( )

Assigns the same value to all the cells in the grid, so the sum 1.

Definition at line 200 of file CPose3DPDFGrid.cpp.

References val.

◆ update_cached_size_products()

void mrpt::poses::CPose3DGridTemplate< double >::update_cached_size_products ( )
inlineprotectedinherited

◆ 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.

◆ x2idx()

int mrpt::poses::CPose3DGridTemplate< double >::x2idx ( double  x) const
inlineinherited

◆ y2idx()

int mrpt::poses::CPose3DGridTemplate< double >::y2idx ( double  y) const
inlineinherited

◆ yaw2idx()

int mrpt::poses::CPose3DGridTemplate< double >::yaw2idx ( double  yaw) const
inlineinherited

◆ z2idx()

int mrpt::poses::CPose3DGridTemplate< double >::z2idx ( double  z) const
inlineinherited

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPose3DPDFGrid::className = "mrpt::poses" "::" "CPose3DPDFGrid"
static

Definition at line 27 of file CPose3DPDFGrid.h.

◆ m_bb_max

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::m_bb_max
protectedinherited

Definition at line 29 of file CPose3DGridTemplate.h.

◆ m_bb_min

mrpt::math::TPose3D mrpt::poses::CPose3DGridTemplate< double >::m_bb_min
protectedinherited

Definition at line 28 of file CPose3DGridTemplate.h.

◆ m_data

std::vector<double > mrpt::poses::CPose3DGridTemplate< double >::m_data
protectedinherited

The data.

Stored in this order:

m_data[ ci_x

  • size_x * ci_y
  • size_xy * ci_z
  • size_xyz * ci_yaw
  • size_xyzy * ci_pitch
  • size_xyzyp * ci_roll ]

Definition at line 64 of file CPose3DGridTemplate.h.

◆ m_min_cidPitch

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidPitch
protectedinherited

Definition at line 51 of file CPose3DGridTemplate.h.

◆ m_min_cidRoll

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidRoll
protectedinherited

Definition at line 51 of file CPose3DGridTemplate.h.

◆ m_min_cidX

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidX
protectedinherited

Minimum "cell indexes" for each coordinate.

Definition at line 50 of file CPose3DGridTemplate.h.

◆ m_min_cidY

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidY
protectedinherited

Definition at line 50 of file CPose3DGridTemplate.h.

◆ m_min_cidYaw

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidYaw
protectedinherited

Definition at line 51 of file CPose3DGridTemplate.h.

◆ m_min_cidZ

int mrpt::poses::CPose3DGridTemplate< double >::m_min_cidZ
protectedinherited

Definition at line 50 of file CPose3DGridTemplate.h.

◆ m_resolutionXYZ

double mrpt::poses::CPose3DGridTemplate< double >::m_resolutionXYZ
protectedinherited

Resolution of the grid.

Definition at line 32 of file CPose3DGridTemplate.h.

◆ m_resolutionYPR

double mrpt::poses::CPose3DGridTemplate< double >::m_resolutionYPR
protectedinherited

Definition at line 32 of file CPose3DGridTemplate.h.

◆ m_size_xy

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xy
protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

◆ m_size_xyz

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyz
protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

◆ m_size_xyzY

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyzY
protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

◆ m_size_xyzYP

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyzYP
protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

◆ m_size_xyzYPR

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_size_xyzYPR
protectedinherited

Definition at line 38 of file CPose3DGridTemplate.h.

◆ m_sizePitch

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizePitch
protectedinherited

Definition at line 35 of file CPose3DGridTemplate.h.

◆ m_sizeRoll

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeRoll
protectedinherited

Definition at line 35 of file CPose3DGridTemplate.h.

◆ m_sizeX

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeX
protectedinherited

Definition at line 34 of file CPose3DGridTemplate.h.

◆ m_sizeY

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeY
protectedinherited

Definition at line 34 of file CPose3DGridTemplate.h.

◆ m_sizeYaw

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeYaw
protectedinherited

Definition at line 35 of file CPose3DGridTemplate.h.

◆ m_sizeZ

uint32_t mrpt::poses::CPose3DGridTemplate< double >::m_sizeZ
protectedinherited

Definition at line 34 of file CPose3DGridTemplate.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFGrid::runtimeClassId
staticprotected

Definition at line 27 of file CPose3DPDFGrid.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose3D , 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.




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