MRPT  1.9.9
mrpt::poses::CPosePDFGrid Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).

This class implements that PDF using a 3D grid.

See also
CPose2D, CPosePDF, CPose2DGridTemplate

Definition at line 24 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
using type_value = CPose2D
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPose2D, 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

 CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::DEG2RAD(180.0), double phiMin=-M_PI, double phiMax=M_PI)
 Constructor: Initializes a, uniform distribution over the whole given range. More...
 
 ~CPosePDFGrid () override
 Destructor. More...
 
void copyFrom (const CPosePDF &o) override
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void normalize ()
 Normalizes the PDF, such as all cells sum the unity. More...
 
void uniformDistribution ()
 Assigns the same value to all the cells in the grid, so the sum 1. More...
 
void getMean (CPose2D &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 vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) override
 this = p (+) this. More...
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
 Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication) More...
 
void inverse (CPosePDF &o) const override
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
void drawSingleSample (CPose2D &outPart) const override
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) 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 1x3 vectors, where each row contains a (x,y,phi) 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, CPose2D &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 (CPose2D &outPart) const=0
 Draws a single sample from the distribution. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 
size_t x2idx (double x) const
 Returns "indexes" from coordinates: More...
 
size_t y2idx (double y) const
 Returns "indexes" from coordinates: More...
 
size_t phi2idx (double phi) const
 Returns "indexes" from coordinates: More...
 
double idx2x (size_t x) const
 Returns coordinates from "indexes": More...
 
double idx2y (size_t y) const
 Returns coordinates from "indexes": More...
 
double idx2phi (size_t phi) const
 Returns coordinates from "indexes": More...
 
void setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PI, double phiMax=M_PI)
 Changes the limits and size of the grid, erasing previous contents: More...
 
const double * getByPos (double x, double y, double phi) const
 Reads the contents of a cell. More...
 
double * getByPos (double x, double y, double phi)
 Reads the contents of a cell. More...
 
const double * getByIndex (size_t x, size_t y, size_t phi) const
 Reads the contents of a cell. More...
 
double * getByIndex (size_t x, size_t y, size_t phi)
 Reads the contents of a cell. More...
 
void getAsMatrix (const double &phi, MATRIXLIKE &outMat)
 Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". More...
 
double getXMin () const
 Get info about the grid: More...
 
double getXMax () const
 
double getYMin () const
 
double getYMax () const
 
double getPhiMin () const
 
double getPhiMax () const
 
double getResolutionXY () const
 
double getResolutionPhi () const
 
size_t getSizeX () const
 
size_t getSizeY () const
 
size_t getSizePhi () const
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static void jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
 This static method computes the pose composition Jacobians, with these formulas: More...
 
static void jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)
 
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

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

double m_xMin
 The limits and resolution of the grid: More...
 
double m_xMax
 
double m_yMin
 
double m_yMax
 
double m_phiMin
 
double m_phiMax
 
double m_resolutionXY
 
double m_resolutionPhi
 
size_t m_sizeX
 The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi. More...
 
size_t m_sizeY
 
size_t m_sizePhi
 
size_t m_sizeXY
 
int m_idxLeftX
 The indexes of the "left" borders: More...
 
int m_idxLeftY
 
int m_idxLeftPhi
 
std::vector< double > m_data
 The data: More...
 

RTTI stuff

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

Definition at line 26 of file CPosePDFGrid.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , 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 26 of file CPosePDFGrid.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose2D , STATE_LEN>
inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

Definition at line 26 of file CPosePDFGrid.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 94 of file CPosePDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 99 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFGrid()

CPosePDFGrid::CPosePDFGrid ( double  xMin = -1.0f,
double  xMax = 1.0f,
double  yMin = -1.0f,
double  yMax = 1.0f,
double  resolutionXY = 0.5f,
double  resolutionPhi = mrpt::DEG2RAD(180.0),
double  phiMin = -M_PI,
double  phiMax = M_PI 
)

Constructor: Initializes a, uniform distribution over the whole given range.

Definition at line 32 of file CPosePDFGrid.cpp.

◆ ~CPosePDFGrid()

CPosePDFGrid::~CPosePDFGrid ( )
overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

◆ bayesianFusion()

void CPosePDFGrid::bayesianFusion ( const CPosePDF p1,
const CPosePDF p2,
const double  minMahalanobisDistToDrop = 0 
)
overridevirtual

Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

Implements mrpt::poses::CPosePDF.

Definition at line 180 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ changeCoordinatesReference()

void CPosePDFGrid::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::CPosePDF.

Definition at line 171 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ clone()

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

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPosePDFGrid::copyFrom ( const CPosePDF o)
overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 41 of file CPosePDFGrid.cpp.

References THROW_EXCEPTION.

◆ Create()

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

Definition at line 26 of file CPosePDFGrid.h.

◆ CreateAlloc()

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

Definition at line 26 of file CPosePDFGrid.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 26 of file CPosePDFGrid.h.

◆ drawManySamples()

void CPosePDFGrid::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 211 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPosePDFGrid::drawSingleSample ( CPose2D outPart) const
override

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

Definition at line 202 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  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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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPosePDF::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 113 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 124 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAsMatrix()

void mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix ( const double &  phi,
MATRIXLIKE &  outMat 
)
inlineinherited

◆ getByIndex() [1/2]

◆ getByIndex() [2/2]

◆ getByPos() [1/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos ( double  x,
double  y,
double  phi 
) const
inlineinherited

◆ getByPos() [2/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByPos ( double  x,
double  y,
double  phi 
)
inlineinherited

◆ getClassName()

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

Definition at line 26 of file CPosePDFGrid.h.

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovarianceAndMean() [1/2]

std::tuple< CMatrixDouble33, CPose2D > CPosePDFGrid::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< CPose2D, 3 >.

Definition at line 73 of file CPosePDFGrid.cpp.

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

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◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPose2D &  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.

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

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

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

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance(), and mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt().

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose2D , 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 CPosePDFGrid::getMean ( CPose2D mean_pose) const
override

Definition at line 58 of file CPosePDFGrid.cpp.

References mrpt::poses::SE_average< 2 >::append(), and mrpt::poses::SE_average< 2 >::get_average().

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◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().

◆ getPhiMax()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const
inlineinherited

◆ getPhiMin()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const
inlineinherited

◆ getResolutionPhi()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const
inlineinherited

◆ getResolutionXY()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const
inlineinherited

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

◆ GetRuntimeClassIdStatic()

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

◆ getSizePhi()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const
inlineinherited

◆ getSizeX()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const
inlineinherited

◆ getSizeY()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const
inlineinherited

◆ getXMax()

double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const
inlineinherited

◆ getXMin()

double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const
inlineinherited

Get info about the grid:

Definition at line 196 of file CPose2DGridTemplate.h.

References mrpt::poses::CPose2DGridTemplate< T >::m_xMin.

◆ getYMax()

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const
inlineinherited

◆ getYMin()

double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const
inlineinherited

◆ idx2phi()

double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t  phi) const
inlineinherited

◆ idx2x()

double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t  x) const
inlineinherited

◆ idx2y()

double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t  y) const
inlineinherited

◆ inverse()

void CPosePDFGrid::inverse ( CPosePDF o) const
overridevirtual

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

Implements mrpt::poses::CPosePDF.

Definition at line 193 of file CPosePDFGrid.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ is_3D()

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

Definition at line 98 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_3D_val.

◆ is_PDF()

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

Definition at line 103 of file CPosePDF.h.

References mrpt::poses::CPosePDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition() [1/2]

void CPosePDF::jacobiansPoseComposition ( const CPose2D x,
const CPose2D u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du,
const bool  compute_df_dx = true,
const bool  compute_df_du = true 
)
staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]

Definition at line 32 of file CPosePDF.cpp.

References mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().

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◆ jacobiansPoseComposition() [2/2]

void CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian x,
const CPosePDFGaussian u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du 
)
staticinherited

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 22 of file CPosePDF.cpp.

References mrpt::poses::CPosePDF::jacobiansPoseComposition().

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◆ normalize()

void CPosePDFGrid::normalize ( )

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

Definition at line 223 of file CPosePDFGrid.cpp.

◆ phi2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double  phi) const
inlineinherited

◆ saveToTextFile()

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

Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

Returns
false on error

Implements mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >.

Definition at line 141 of file CPosePDFGrid.cpp.

References mrpt::format().

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◆ serializeFrom() [1/2]

void CPosePDFGrid::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 107 of file CPosePDFGrid.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

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

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

Definition at line 74 of file CSerializable.h.

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

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◆ serializeGetVersion()

uint8_t CPosePDFGrid::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 93 of file CPosePDFGrid.cpp.

◆ serializeTo() [1/2]

void CPosePDFGrid::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 94 of file CPosePDFGrid.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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◆ setSize()

◆ uniformDistribution()

void CPosePDFGrid::uniformDistribution ( )

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

Definition at line 240 of file CPosePDFGrid.cpp.

References val.

◆ 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()

size_t mrpt::poses::CPose2DGridTemplate< double >::x2idx ( double  x) const
inlineinherited

◆ y2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::y2idx ( double  y) const
inlineinherited

Member Data Documentation

◆ _init_CPosePDFGrid

mrpt::rtti::CLASSINIT mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid
staticprotected

Definition at line 26 of file CPosePDFGrid.h.

◆ className

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

Definition at line 26 of file CPosePDFGrid.h.

◆ m_data

std::vector<double > mrpt::poses::CPose2DGridTemplate< double >::m_data
protectedinherited

The data:

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_idxLeftPhi

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftPhi
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_idxLeftX

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftX
protectedinherited

The indexes of the "left" borders:

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_idxLeftY

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftY
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_phiMax

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMax
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_phiMin

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMin
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_resolutionPhi

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionPhi
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_resolutionXY

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionXY
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_sizePhi

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizePhi
protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizeX

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeX
protectedinherited

The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizeXY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeXY
protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizeY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeY
protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_xMax

double mrpt::poses::CPose2DGridTemplate< double >::m_xMax
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_xMin

double mrpt::poses::CPose2DGridTemplate< double >::m_xMin
protectedinherited

The limits and resolution of the grid:

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_yMax

double mrpt::poses::CPose2DGridTemplate< double >::m_yMax
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ m_yMin

double mrpt::poses::CPose2DGridTemplate< double >::m_yMin
protectedinherited

Definition at line 27 of file CPose2DGridTemplate.h.

◆ runtimeClassId

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

Definition at line 26 of file CPosePDFGrid.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose2D , 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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