MRPT  1.9.9
mrpt::poses::CPose3DQuatPDFGaussian Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $.

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

For further details on implemented methods and the theory behind them, see this report.

See also
CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf

Definition at line 43 of file CPose3DQuatPDFGaussian.h.

#include <mrpt/poses/CPose3DQuatPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussian:

Public Types

using type_value = CPose3DQuat
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPose3DQuat, 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

 CPose3DQuatPDFGaussian ()
 Default constructor - set all values to zero. More...
 
 CPose3DQuatPDFGaussian (mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param)
 Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. More...
 
 CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean)
 Constructor from a default mean value, covariance equals to zero. More...
 
 CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_Cov)
 Constructor with mean and covariance. More...
 
 CPose3DQuatPDFGaussian (const CPosePDFGaussian &o)
 Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). More...
 
 CPose3DQuatPDFGaussian (const CPose3DPDFGaussian &o)
 Constructor from an equivalent Gaussian in Euler angles representation. More...
 
const CPose3DQuatgetPoseMean () const
 
CPose3DQuatgetPoseMean ()
 
void getMean (CPose3DQuat &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 copyFrom (const CPose3DQuatPDF &o) override
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPosePDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPose3DPDFGaussian &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
bool saveToTextFile (const std::string &file) const override
 Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. More...
 
void changeCoordinatesReference (const CPose3DQuat &newReferenceBase)
 this = p (+) this. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) override
 this = p (+) this. More...
 
void drawSingleSample (CPose3DQuat &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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. More...
 
void inverse (CPose3DQuatPDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3DQuatPDFGaussian operator- () const
 Unary - operator, returns the PDF of the inverse pose. More...
 
void operator+= (const CPose3DQuat &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
 
void operator+= (const CPose3DQuatPDFGaussian &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More...
 
void operator-= (const CPose3DQuatPDFGaussian &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More...
 
double evaluatePDF (const CPose3DQuat &x) const
 Evaluates the PDF at a given point. More...
 
double evaluateNormalizedPDF (const CPose3DQuat &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
 
double mahalanobisDistanceTo (const CPose3DQuatPDFGaussian &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. 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, CPose3DQuat &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 (CPose3DQuat &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 CPose3DQuatPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF. More...
 
static void jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=nullptr)
 This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. More...
 

Public Attributes

CPose3DQuat mean
 The mean value. More...
 
mrpt::math::CMatrixDouble77 cov
 The 7x7 covariance matrix. More...
 

Static Public Attributes

static constexpr size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...
 

Protected Member Functions

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...
 

RTTI stuff

using Ptr = std::shared_ptr< CPose3DQuatPDFGaussian >
 
using ConstPtr = std::shared_ptr< const CPose3DQuatPDFGaussian >
 
using UniquePtr = std::unique_ptr< CPose3DQuatPDFGaussian >
 
using ConstUniquePtr = std::unique_ptr< const CPose3DQuatPDFGaussian >
 
static mrpt::rtti::CLASSINIT _init_CPose3DQuatPDFGaussian
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPose3DQuatPDFGaussian"
 
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

◆ ConstUniquePtr

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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 45 of file CPose3DQuatPDFGaussian.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3DQuat , 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

Constructor & Destructor Documentation

◆ CPose3DQuatPDFGaussian() [1/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( )

Default constructor - set all values to zero.

Definition at line 45 of file CPose3DQuatPDFGaussian.cpp.

◆ CPose3DQuatPDFGaussian() [2/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( mrpt::math::TConstructorFlags_Quaternions  constructor_dummy_param)

Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.

Definition at line 47 of file CPose3DQuatPDFGaussian.cpp.

References MRPT_UNUSED_PARAM.

◆ CPose3DQuatPDFGaussian() [3/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat init_Mean)
explicit

Constructor from a default mean value, covariance equals to zero.

Definition at line 55 of file CPose3DQuatPDFGaussian.cpp.

◆ CPose3DQuatPDFGaussian() [4/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat init_Mean,
const mrpt::math::CMatrixDouble77 init_Cov 
)

Constructor with mean and covariance.

Definition at line 61 of file CPose3DQuatPDFGaussian.cpp.

◆ CPose3DQuatPDFGaussian() [5/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPosePDFGaussian o)
explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).

Definition at line 69 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom().

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◆ CPose3DQuatPDFGaussian() [6/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DPDFGaussian o)
explicit

Constructor from an equivalent Gaussian in Euler angles representation.

Definition at line 76 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::_GetBaseClass ( )
staticprotected

◆ changeCoordinatesReference() [1/2]

void CPose3DQuatPDFGaussian::changeCoordinatesReference ( const CPose3DQuat newReferenceBase)

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.

Definition at line 207 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by changeCoordinatesReference(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and Pose3DQuatPDFGaussTests::testChangeCoordsRef().

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◆ changeCoordinatesReference() [2/2]

void CPose3DQuatPDFGaussian::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::CPose3DQuatPDF.

Definition at line 196 of file CPose3DQuatPDFGaussian.cpp.

References changeCoordinatesReference(), MRPT_END, and MRPT_START.

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DQuatPDFGaussian::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom() [1/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPose3DQuatPDF o)
overridevirtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 107 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mean.

Referenced by copyFrom(), and CPose3DQuatPDFGaussian().

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◆ copyFrom() [2/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPosePDF o)

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

Definition at line 115 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom(), and mrpt::poses::CPose3DPDFGaussian::copyFrom().

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◆ copyFrom() [3/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPose3DPDFGaussian o)

◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPose3DQuatPDFGaussian::Create ( Args &&...  args)
inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPose3DQuatPDFGaussian::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ createFrom2D()

CPose3DQuatPDF * CPose3DQuatPDF::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) It returns a new object of any of the derived classes of CPose3DQuatPDF.

This object must be deleted by the user when not required anymore.

See also
copyFrom

Definition at line 27 of file CPose3DQuatPDF.cpp.

References MRPT_END, and MRPT_START.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose3DQuatPDFGaussian::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPose3DQuatPDFGaussian::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ drawManySamples()

void CPose3DQuatPDFGaussian::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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 243 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, and MRPT_START.

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◆ drawSingleSample() [1/2]

void CPose3DQuatPDFGaussian::drawSingleSample ( CPose3DQuat outPart) const
override

Draws a single sample from the distribution.

Definition at line 233 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END, and MRPT_START.

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◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( CPose3DQuat &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

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

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

Definition at line 200 of file CObject.h.

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

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

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◆ enforceCovSymmetry()

void CPose3DQuatPDFGaussian::enforceCovSymmetry ( )
protected

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

Definition at line 360 of file CPose3DQuatPDFGaussian.cpp.

References cov, and mrpt::math::CMatrixFixed< T, ROWS, COLS >::rows().

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◆ evaluateNormalizedPDF()

double CPose3DQuatPDFGaussian::evaluateNormalizedPDF ( const CPose3DQuat x) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

Definition at line 351 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and mrpt::math::normalPDF().

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◆ evaluatePDF()

double CPose3DQuatPDFGaussian::evaluatePDF ( const CPose3DQuat x) const

Evaluates the PDF at a given point.

Definition at line 342 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and mrpt::math::normalPDF().

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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DQuatPDF::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 95 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::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 106 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose3DQuatPDFGaussian::getClassName ( )
inlinestatic

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPose3DQuat &  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<cov_mat_t, type_value> mrpt::poses::CPose3DQuatPDFGaussian::getCovarianceAndMean ( ) const
inlineoverridevirtual

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< CPose3DQuat, 7 >.

Definition at line 88 of file CPose3DQuatPDFGaussian.h.

References cov, and mean.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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 CPose3DQuatPDFGaussian::getMean ( CPose3DQuat mean_pose) const
override

Definition at line 82 of file CPose3DQuatPDFGaussian.cpp.

References mean.

◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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.

◆ getPoseMean() [1/2]

const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( ) const
inline

Definition at line 83 of file CPose3DQuatPDFGaussian.h.

References mean.

◆ getPoseMean() [2/2]

CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( )
inline

Definition at line 84 of file CPose3DQuatPDFGaussian.h.

References mean.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DQuatPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClassIdStatic ( )
static

◆ inverse()

void CPose3DQuatPDFGaussian::inverse ( CPose3DQuatPDF o) const
overridevirtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 259 of file CPose3DQuatPDFGaussian.cpp.

References ASSERT_, CLASS_ID, mrpt::math::CQuaternion< T >::conj(), cov, mrpt::poses::CPose3DQuatPDF::GetRuntimeClass(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mean, mrpt::math::multiply_HCHt(), mrpt::poses::CPose3DQuat::quat(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by operator-().

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◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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::CPose3DQuatPDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DQuatPDF::jacobiansPoseComposition ( const CPose3DQuat x,
const CPose3DQuat u,
mrpt::math::CMatrixDouble77 df_dx,
mrpt::math::CMatrixDouble77 df_du,
CPose3DQuat out_x_oplus_u = nullptr 
)
staticinherited

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.

Parameters
out_x_oplus_uIf set to !=nullptr, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here:

Definition at line 42 of file CPose3DQuatPDF.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().

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◆ mahalanobisDistanceTo()

double CPose3DQuatPDFGaussian::mahalanobisDistanceTo ( const CPose3DQuatPDFGaussian theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

Definition at line 371 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::math::mahalanobisDistance(), mean, MRPT_END, and MRPT_START.

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◆ operator+=() [1/2]

void CPose3DQuatPDFGaussian::operator+= ( const CPose3DQuat Ap)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

Definition at line 289 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator+=() [2/2]

void CPose3DQuatPDFGaussian::operator+= ( const CPose3DQuatPDFGaussian Ap)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).

Definition at line 310 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, mrpt::math::multiply_HCHt(), and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator-()

CPose3DQuatPDFGaussian mrpt::poses::CPose3DQuatPDFGaussian::operator- ( ) const
inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 130 of file CPose3DQuatPDFGaussian.h.

References inverse(), and mrpt::math::UNINITIALIZED_QUATERNION.

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◆ operator-=()

void CPose3DQuatPDFGaussian::operator-= ( const CPose3DQuatPDFGaussian Ap)

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).

Definition at line 331 of file CPose3DQuatPDFGaussian.cpp.

◆ saveToTextFile()

bool CPose3DQuatPDFGaussian::saveToTextFile ( const std::string file) const
overridevirtual

Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines.

Implements mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 175 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3DQuat::quat(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ serializeFrom() [1/2]

void CPose3DQuatPDFGaussian::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 91 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::math::deserializeSymmetricMatrixFrom(), mean, 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 CPose3DQuatPDFGaussian::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 84 of file CPose3DQuatPDFGaussian.cpp.

◆ serializeTo() [1/2]

void CPose3DQuatPDFGaussian::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 85 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and 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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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ _init_CPose3DQuatPDFGaussian

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian
staticprotected

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ className

constexpr const char* mrpt::poses::CPose3DQuatPDFGaussian::className = "CPose3DQuatPDFGaussian"
static

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ cov

◆ mean

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussian::runtimeClassId
staticprotected

Definition at line 45 of file CPose3DQuatPDFGaussian.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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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