CPose3DQuatPDFGaussian.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "poses-precomp.h"  // Precompiled headers

#include <mrpt/poses/CPose3DQuatPDFGaussian.h>
#include <mrpt/math/transform_gaussian.h>
#include <mrpt/math/distributions.h>
#include <mrpt/math/matrix_serialization.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/poses/CPose3DQuatPDF.h>
#include <mrpt/system/os.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::random;
using namespace mrpt::system;
using namespace std;

bool USE_SUT_EULER2QUAT_CONVERSION_value = false;

bool mrpt::global_settings::USE_SUT_EULER2QUAT_CONVERSION()
{
    return USE_SUT_EULER2QUAT_CONVERSION_value;
}
void mrpt::global_settings::USE_SUT_EULER2QUAT_CONVERSION(bool value)
{
    USE_SUT_EULER2QUAT_CONVERSION_value = value;
}

IMPLEMENTS_SERIALIZABLE(CPose3DQuatPDFGaussian, CPose3DQuatPDF, mrpt::poses)

/** Default constructor - set all values to zero. */
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian() : mean(), cov() {}
// Un-initialized constructor:
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian(
    TConstructorFlags_Quaternions constructor_dummy_param)
    : mean(UNINITIALIZED_QUATERNION), cov(UNINITIALIZED_MATRIX)
{
    MRPT_UNUSED_PARAM(constructor_dummy_param);
}

/** Constructor from a default mean value, covariance equals to zero. */
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian(const CPose3DQuat& init_Mean)
    : mean(init_Mean), cov()
{
}

/** Constructor with mean and covariance. */
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian(
    const CPose3DQuat& init_Mean, const CMatrixDouble77& init_Cov)
    : mean(init_Mean), cov(init_Cov)
{
}

/** Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).
 */
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian(const CPosePDFGaussian& o)
    : mean(UNINITIALIZED_QUATERNION), cov(UNINITIALIZED_MATRIX)
{
    this->copyFrom(CPose3DPDFGaussian(o));
}

/** Constructor from an equivalent Gaussian in Euler angles representation. */
CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian(const CPose3DPDFGaussian& o)
    : mean(UNINITIALIZED_QUATERNION), cov(UNINITIALIZED_MATRIX)
{
    this->copyFrom(o);
}

/*---------------------------------------------------------------
                        getMean
  Returns an estimate of the pose, (the mean, or mathematical expectation of the
 PDF)
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::getMean(CPose3DQuat& p) const { p = mean; }
/*---------------------------------------------------------------
                        getCovarianceAndMean
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::getCovarianceAndMean(
    CMatrixDouble77& C, CPose3DQuat& p) const
{
    C = cov;
    p = mean;
}

uint8_t CPose3DQuatPDFGaussian::serializeGetVersion() const { return 0; }
void CPose3DQuatPDFGaussian::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << mean;
    mrpt::math::serializeSymmetricMatrixTo(cov, out);
}
void CPose3DQuatPDFGaussian::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> mean;
            mrpt::math::deserializeSymmetricMatrixFrom(cov, in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

void CPose3DQuatPDFGaussian::copyFrom(const CPose3DQuatPDF& o)
{
    if (this == &o) return;  // It may be used sometimes

    // Convert to gaussian pdf:
    o.getCovarianceAndMean(cov, mean);
}

void CPose3DQuatPDFGaussian::copyFrom(const CPosePDF& o)
{
    CPose3DPDFGaussian aux;
    aux.copyFrom(o);
    this->copyFrom(aux);
}

void aux_poseypr2posequat(
    const CArrayDouble<6>& x, const double& dummy, CArrayDouble<7>& y)
{
    MRPT_UNUSED_PARAM(dummy);
    y[0] = x[0];
    y[1] = x[1];
    y[2] = x[2];

    CPose3D p(0, 0, 0, x[3], x[4], x[5]);
    CQuaternionDouble q(UNINITIALIZED_QUATERNION);
    p.getAsQuaternion(q);
    y[3] = q[0];
    y[4] = q[1];
    y[5] = q[2];
    y[6] = q[3];
}

void CPose3DQuatPDFGaussian::copyFrom(const CPose3DPDFGaussian& o)
{
    if (!USE_SUT_EULER2QUAT_CONVERSION_value)
    {  // Use Jacobians
        CMatrixFixedNumeric<double, 4, 3> dq_dr_sub(UNINITIALIZED_MATRIX);

        // Mean:
        mean.x(o.mean.x());
        mean.y(o.mean.y());
        mean.z(o.mean.z());

        o.mean.getAsQuaternion(mean.quat(), &dq_dr_sub);

// Cov:
#if 1
        CMatrixFixedNumeric<double, 7, 6> dq_dr;
        dq_dr.get_unsafe(0, 0) = dq_dr.get_unsafe(1, 1) =
            dq_dr.get_unsafe(2, 2) = 1;
        dq_dr.insertMatrix(3, 3, dq_dr_sub);
        // Now for the covariance:
        dq_dr.multiply_HCHt(o.cov, this->cov);
#else
        CMatrixDouble33 cov_R(UNINITIALIZED_MATRIX);
        CMatrixDouble33 cov_T(UNINITIALIZED_MATRIX);
        CMatrixDouble33 cov_TR(UNINITIALIZED_MATRIX);
        o.cov.extractMatrix(3, 3, cov_R);
        o.cov.extractMatrix(0, 0, cov_T);
        o.cov.extractMatrix(0, 3, cov_TR);

        // [        S_T       |   S_TR * H^t    ]
        // [ -----------------+---------------- ]
        // [  (S_TR * H^t)^t  |  H * S_R * H^t  ]

        // top-left:
        this->cov.insertMatrix(0, 0, cov_T);

        // diagonals:
        CMatrixFixedNumeric<double, 3, 4> cov_TQ(UNINITIALIZED_MATRIX);
        cov_TQ.multiply_ABt(cov_TR, dq_dr_sub);
        this->cov.insertMatrix(0, 3, cov_TQ);
        this->cov.insertMatrixTranspose(3, 0, cov_TQ);

        // bottom-right:
        CMatrixDouble44 cov_q(UNINITIALIZED_MATRIX);
        dq_dr_sub.multiply_HCHt(cov_R, cov_q);
        this->cov.insertMatrix(3, 3, cov_q);
#endif
    }
    else
    {
        // Use UT transformation:
        //   f: R^6 => R^7
        const CArrayDouble<6> x_mean(o.mean);

        static const double dummy = 0;
        mrpt::math::transform_gaussian_unscented(
            x_mean, o.cov, &aux_poseypr2posequat, dummy, this->mean, this->cov);
    }
}

/*---------------------------------------------------------------
                    saveToTextFile
  ---------------------------------------------------------------*/
bool CPose3DQuatPDFGaussian::saveToTextFile(const string& file) const
{
    FILE* f = os::fopen(file.c_str(), "wt");
    if (!f) return false;

    os::fprintf(
        f, "%e %e %e %e %e %e %e\n", mean.x(), mean.y(), mean.z(),
        mean.quat()[0], mean.quat()[1], mean.quat()[2], mean.quat()[3]);

    for (unsigned int i = 0; i < 7; i++)
        os::fprintf(
            f, "%e %e %e %e %e %e %e\n", cov(i, 0), cov(i, 1), cov(i, 2),
            cov(i, 3), cov(i, 4), cov(i, 5), cov(i, 6));

    os::fclose(f);
    return true;
}

/*---------------------------------------------------------------
                        changeCoordinatesReference
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::changeCoordinatesReference(
    const CPose3D& newReferenceBase)
{
    MRPT_START
    changeCoordinatesReference(CPose3DQuat(newReferenceBase));
    MRPT_END
}

/*---------------------------------------------------------------
                        changeCoordinatesReference
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::changeCoordinatesReference(
    const CPose3DQuat& newReferenceBaseQuat)
{
    MRPT_START

    // COV:
    const CMatrixDouble77 OLD_COV = this->cov;
    CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

    CPose3DQuatPDF::jacobiansPoseComposition(
        newReferenceBaseQuat,  // x
        this->mean,  // u
        df_dx, df_du,
        &this->mean  // Output:  newReferenceBaseQuat + this->mean;
        );

    // this->cov = H1*this->cov*~H1 + H2*Ap.cov*~H2;
    // df_dx: not used, since its COV are all zeros... // df_dx.multiply_HCHt(
    // OLD_COV, cov );
    df_du.multiply_HCHt(OLD_COV, cov);

    MRPT_END
}

/*---------------------------------------------------------------
                    drawSingleSample
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::drawSingleSample(CPose3DQuat& outPart) const
{
    MRPT_START
    getRandomGenerator().drawGaussianMultivariate(outPart, cov, &mean);
    MRPT_END
}

/*---------------------------------------------------------------
                    drawManySamples
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::drawManySamples(
    size_t N, vector<CVectorDouble>& outSamples) const
{
    MRPT_START

    getRandomGenerator().drawGaussianMultivariateMany(outSamples, N, cov);

    for (vector<CVectorDouble>::iterator it = outSamples.begin();
         it != outSamples.end(); ++it)
        for (unsigned int k = 0; k < 7; k++) (*it)[k] += mean[k];

    MRPT_END
}

/*---------------------------------------------------------------
                    inverse
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::inverse(CPose3DQuatPDF& o) const
{
    ASSERT_(o.GetRuntimeClass() == CLASS_ID(CPose3DQuatPDFGaussian));
    CPose3DQuatPDFGaussian& out = static_cast<CPose3DQuatPDFGaussian&>(o);

    // COV:
    CMatrixFixedNumeric<double, 3, 7> df_dpose(UNINITIALIZED_MATRIX);
    double lx, ly, lz;
    mean.inverseComposePoint(0, 0, 0, lx, ly, lz, nullptr, &df_dpose);

    CMatrixFixedNumeric<double, 7, 7> jacob;
    jacob.insertMatrix(0, 0, df_dpose);
    jacob.set_unsafe(3, 3, 1);
    jacob.set_unsafe(4, 4, -1);
    jacob.set_unsafe(5, 5, -1);
    jacob.set_unsafe(6, 6, -1);

    // C(0:2,0:2): H C H^t
    jacob.multiply_HCHt(this->cov, out.cov);

    // Mean:
    out.mean.x(lx);
    out.mean.y(ly);
    out.mean.z(lz);
    this->mean.quat().conj(out.mean.quat());
}

/*---------------------------------------------------------------
                            +=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::operator+=(const CPose3DQuat& Ap)
{
    // COV:
    const CMatrixDouble77 OLD_COV = this->cov;
    CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

    CPose3DQuatPDF::jacobiansPoseComposition(
        this->mean,  // x
        Ap,  // u
        df_dx, df_du,
        &this->mean  // Output: this->mean + Ap;
        );

    // this->cov = H1*this->cov*~H1 + H2*Ap.cov*~H2;
    df_dx.multiply_HCHt(OLD_COV, cov);
    // df_du: Nothing to do, since COV(Ap) = zeros
}

/*---------------------------------------------------------------
                            +=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::operator+=(const CPose3DQuatPDFGaussian& Ap)
{
    // COV:
    const CMatrixDouble77 OLD_COV = this->cov;
    CMatrixDouble77 df_dx(UNINITIALIZED_MATRIX), df_du(UNINITIALIZED_MATRIX);

    CPose3DQuatPDF::jacobiansPoseComposition(
        this->mean,  // x
        Ap.mean,  // u
        df_dx, df_du,
        &this->mean  // Output:  this->mean + Ap.mean;
        );

    // this->cov = H1*this->cov*~H1 + H2*Ap.cov*~H2;
    df_dx.multiply_HCHt(OLD_COV, cov);
    df_du.multiply_HCHt(Ap.cov, cov, true);  // Accumulate result
}

/*---------------------------------------------------------------
                            -=
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::operator-=(const CPose3DQuatPDFGaussian& Ap)
{
    // THIS = THIS (-) Ap             -->
    // THIS = inverse(Ap) (+) THIS
    CPose3DQuatPDFGaussian inv_Ap = -Ap;
    *this = inv_Ap + *this;
}

/*---------------------------------------------------------------
                        evaluatePDF
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussian::evaluatePDF(const CPose3DQuat& x) const
{
    return mrpt::math::normalPDF(
        CMatrixDouble71(x), CMatrixDouble71(this->mean), this->cov);
}

/*---------------------------------------------------------------
                        evaluateNormalizedPDF
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussian::evaluateNormalizedPDF(const CPose3DQuat& x) const
{
    return mrpt::math::normalPDF(
        CMatrixDouble71(x), CMatrixDouble71(this->mean), this->cov, true);
}

/*---------------------------------------------------------------
                        assureSymmetry
 ---------------------------------------------------------------*/
void CPose3DQuatPDFGaussian::assureSymmetry()
{
    // Differences, when they exist, appear in the ~15'th significant
    //  digit, so... just take one of them arbitrarily!
    for (int i = 0; i < cov.rows() - 1; i++)
        for (int j = i + 1; j < cov.rows(); j++)
            cov.get_unsafe(i, j) = cov.get_unsafe(j, i);
}

/*---------------------------------------------------------------
                        mahalanobisDistanceTo
 ---------------------------------------------------------------*/
double CPose3DQuatPDFGaussian::mahalanobisDistanceTo(
    const CPose3DQuatPDFGaussian& theOther)
{
    MRPT_START
    const CMatrixDouble77 COV2 = cov + theOther.cov;
    return mrpt::math::mahalanobisDistance(
        CMatrixDouble71(this->mean) - CMatrixDouble71(theOther.mean), COV2);
    MRPT_END
}

/*---------------------------------------------------------------
                        operator <<
 ---------------------------------------------------------------*/
ostream& mrpt::poses::operator<<(
    ostream& out, const CPose3DQuatPDFGaussian& obj)
{
    out << "Mean: " << obj.mean << "\n";
    out << "Covariance:\n" << obj.cov << "\n";
    return out;
}

bool mrpt::poses::operator==(
    const CPose3DQuatPDFGaussian& p1, const CPose3DQuatPDFGaussian& p2)
{
    return p1.mean == p2.mean && p1.cov == p2.cov;
}

CPose3DQuatPDFGaussian mrpt::poses::operator+(
    const CPose3DQuatPDFGaussian& x, const CPose3DQuatPDFGaussian& u)
{
    CPose3DQuatPDFGaussian res(x);
    res += u;
    return res;
}

CPose3DQuatPDFGaussian mrpt::poses::operator-(
    const CPose3DQuatPDFGaussian& x, const CPose3DQuatPDFGaussian& u)
{
    CPose3DQuatPDFGaussian res(x);
    res -= u;
    return res;
}