MRPT  1.9.9
mrpt::poses::CPose3DPDFSOG Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^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 CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See also
CPose3DPDF

Definition at line 32 of file CPose3DPDFSOG.h.

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:

Classes

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

Public Types

using TModesList = std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11< TGaussianMode > >
 
using const_iterator = TModesList::const_iterator
 
using iterator = TModesList::iterator
 
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

 CPose3DPDFSOG (size_t nModes=1)
 Default constructor. More...
 
void clear ()
 Clear all the gaussian modes. More...
 
void resize (const size_t N)
 Set 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...
 
iterator begin ()
 
iterator end ()
 
const_iterator begin () const
 
const_iterator end () const
 
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...
 
void normalizeWeights ()
 Normalize the weights in m_modes such as the maximum log-weight is 0. More...
 
void getMostLikelyMode (CPose3DPDFGaussian &outVal) const
 Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...
 
void copyFrom (const CPose3DPDF &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 bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
 Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) 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...
 
void inverse (CPose3DPDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
void appendFrom (const CPose3DPDFSOG &o)
 Append the Gaussian modes from "o" to the current set of modes of "this" density. 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...
 
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 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 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

TModesList m_modes
 Access directly to this array for modify the modes as desired. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPose3DPDFSOG >
 
using ConstPtr = std::shared_ptr< const CPose3DPDFSOG >
 
using UniquePtr = std::unique_ptr< CPose3DPDFSOG >
 
using ConstUniquePtr = std::unique_ptr< const CPose3DPDFSOG >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPose3DPDFSOG"
 
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

◆ const_iterator

using mrpt::poses::CPose3DPDFSOG::const_iterator = TModesList::const_iterator

Definition at line 51 of file CPose3DPDFSOG.h.

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 34 of file CPose3DPDFSOG.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.

◆ iterator

using mrpt::poses::CPose3DPDFSOG::iterator = TModesList::iterator

Definition at line 52 of file CPose3DPDFSOG.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 34 of file CPose3DPDFSOG.h.

◆ self_t

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

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ TModesList

◆ type_value

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 34 of file CPose3DPDFSOG.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

◆ CPose3DPDFSOG()

CPose3DPDFSOG::CPose3DPDFSOG ( size_t  nModes = 1)

Default constructor.

Parameters
nModesThe initial size of CPose3DPDFSOG::m_modes

Definition at line 29 of file CPose3DPDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( )
staticprotected

◆ appendFrom()

void CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG o)

Append the Gaussian modes from "o" to the current set of modes of "this" density.

Definition at line 284 of file CPose3DPDFSOG.cpp.

References ASSERT_, m_modes, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().

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◆ bayesianFusion()

void CPose3DPDFSOG::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
overridevirtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

Definition at line 190 of file CPose3DPDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

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◆ begin() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::begin ( )
inline

Definition at line 80 of file CPose3DPDFSOG.h.

References m_modes.

◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const
inline

Definition at line 82 of file CPose3DPDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPose3DPDFSOG::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::CPose3DPDF.

Definition at line 182 of file CPose3DPDFSOG.cpp.

◆ clear()

void CPose3DPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 33 of file CPose3DPDFSOG.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFSOG::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPose3DPDFSOG::copyFrom ( const CPose3DPDF o)
overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 140 of file CPose3DPDFSOG.cpp.

References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.

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◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPose3DPDFSOG::Create ( Args &&...  args)
inlinestatic

Definition at line 34 of file CPose3DPDFSOG.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPose3DPDFSOG::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 34 of file CPose3DPDFSOG.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::CPose3DPDFSOG::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPose3DPDFSOG::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 34 of file CPose3DPDFSOG.h.

◆ drawManySamples()

void CPose3DPDFSOG::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 247 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFSOG::drawSingleSample ( CPose3D outPart) const
override

Draws a single sample from the distribution.

Definition at line 238 of file CPose3DPDFSOG.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 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::CPose3DPDFSOG::empty ( ) const
inline

Return whether there is any Gaussian mode.

Definition at line 79 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::end ( )
inline

Definition at line 81 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const
inline

Definition at line 83 of file CPose3DPDFSOG.h.

References m_modes.

◆ enforceCovSymmetry()

void CPose3DPDFSOG::enforceCovSymmetry ( )
protected

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

Definition at line 207 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ 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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◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFSOG::getClassName ( )
inlinestatic

Definition at line 34 of file CPose3DPDFSOG.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< mrpt::math::CMatrixDouble66, CPose3D > CPose3DPDFSOG::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 63 of file CPose3DPDFSOG.cpp.

References mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), and mrpt::math::mean().

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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.

◆ 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.

◆ 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 CPose3DPDFSOG::getMean ( CPose3D mean_pose) const
override

Definition at line 43 of file CPose3DPDFSOG.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.

◆ getMostLikelyMode()

void CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian 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 301 of file CPose3DPDFSOG.cpp.

References mrpt::containers::empty().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::GetRuntimeClassIdStatic ( )
static

◆ inverse()

void CPose3DPDFSOG::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 258 of file CPose3DPDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.

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◆ 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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◆ normalizeWeights()

void CPose3DPDFSOG::normalizeWeights ( )

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

Definition at line 225 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ resize()

void CPose3DPDFSOG::resize ( const size_t  N)

Set the number of SOG modes.

Definition at line 37 of file CPose3DPDFSOG.cpp.

◆ saveToTextFile()

bool CPose3DPDFSOG::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 linear weight)
  • x_mean (gaussian mean value)
  • y_mean (gaussian mean value)
  • x_mean (gaussian mean value)
  • yaw_mean (gaussian mean value, in radians)
  • pitch_mean (gaussian mean value, in radians)
  • roll_mean (gaussian mean value, in radians)
  • C11,C22,C33,C44,C55,C66 (Covariance elements)
  • C12,C13,C14,C15,C16 (Covariance elements)
  • C23,C24,C25,C25 (Covariance elements)
  • C34,C35,C36 (Covariance elements)
  • C45,C46 (Covariance elements)
  • C56 (Covariance elements)

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

Definition at line 165 of file CPose3DPDFSOG.cpp.

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

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◆ serializeFrom() [1/2]

void CPose3DPDFSOG::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 104 of file CPose3DPDFSOG.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION.

◆ 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 CPose3DPDFSOG::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 97 of file CPose3DPDFSOG.cpp.

◆ serializeTo() [1/2]

void CPose3DPDFSOG::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 98 of file CPose3DPDFSOG.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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◆ size()

size_t mrpt::poses::CPose3DPDFSOG::size ( ) const
inline

Return the number of Gaussian modes.

Definition at line 77 of file CPose3DPDFSOG.h.

References m_modes.

◆ 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::CPose3DPDFSOG::className = "CPose3DPDFSOG"
static

Definition at line 34 of file CPose3DPDFSOG.h.

◆ m_modes

TModesList mrpt::poses::CPose3DPDFSOG::m_modes
protected

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes

Definition at line 64 of file CPose3DPDFSOG.h.

Referenced by appendFrom(), begin(), empty(), end(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFSOG::runtimeClassId
staticprotected

Definition at line 34 of file CPose3DPDFSOG.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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