Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z).

This class is just the base class for unifying many diferent ways this PDF can be implemented.

For convenience, a pose composition is also defined for any PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See also: CPoint3D

Definition at line 37 of file CPointPDF.h.

#include <mrpt/poses/CPointPDF.h>

Inheritance diagram for mrpt::poses::CPointPDF:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPoint3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPoint3D, STATE_LEN >

Public Member Functions
virtual void	copyFrom (const CPointPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

virtual void	bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0)=0
	Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) More...

virtual void	changeCoordinatesReference (const CPose3D &newReferenceBase)=0

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 , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR	getAs3DObject () const
	Returns a 3D representation of this PDF. More...

virtual mxArray *	writeToMatlab () 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 CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

virtual void	getMean (CPoint3D &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual void	getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint3D &mean_point) const=0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPoint3D	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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN >	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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &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 bool	saveToTextFile (const std::string &file) const=0
	Save PDF's particles to a text file. More...

virtual void	drawSingleSample (CPoint3D &outPart) const=0
	Draws a single sample from the distribution. More...

virtual void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. 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
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
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
virtual uint8_t	serializeGetVersion () const =0
	Must return the current versioning number of the object. More...

virtual void	serializeTo (CArchive &out) const =0
	Pure virtual method for writing (serializing) to an abstract archive. More...

virtual void	serializeFrom (CArchive &in, uint8_t serial_version)=0
	Pure virtual method for reading (deserializing) from an abstract archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< CPointPDF >

using	ConstPtr = std::shared_ptr< const CPointPDF >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

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

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPointPDF::ConstPtr = std::shared_ptr<const CPointPDF >

Definition at line 40 of file CPointPDF.h.

◆ Ptr

using mrpt::poses::CPointPDF::Ptr = std::shared_ptr< CPointPDF >

Definition at line 40 of file CPointPDF.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint3D , STATE_LEN>

inherited

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::type_value = CPoint3D

inherited

The type of the state the PDF represents.

Definition at line 33 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 65 of file CPointPDF.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 70 of file CPointPDF.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDF::_GetBaseClass ( )

staticprotected

◆ bayesianFusion()

virtual void mrpt::poses::CPointPDF::bayesianFusion	(	const CPointPDF &	p1,
		const CPointPDF &	p2,
		const double	minMahalanobisDistToDrop = `0`
	)

pure virtual

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters

p1	The first distribution to fuse
p2	The second distribution to fuse
minMahalanobisDistToDrop	If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implemented in mrpt::poses::CPointPDFSOG, mrpt::poses::CPointPDFGaussian, and mrpt::poses::CPointPDFParticles.

◆ changeCoordinatesReference()

virtual void mrpt::poses::CPointPDF::changeCoordinatesReference ( const CPose3D & newReferenceBase )

pure virtual

Implemented in mrpt::poses::CPointPDFSOG, mrpt::maps::CBeacon, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

◆ clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const

pure virtualinherited

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

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

◆ copyFrom()

virtual void mrpt::poses::CPointPDF::copyFrom ( const CPointPDF & o )

pure virtual

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

Implemented in mrpt::poses::CPointPDFSOG, mrpt::maps::CBeacon, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

inlinevirtualinherited

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

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 152 of file CProbabilityDensityFunction.h.

◆ drawSingleSample()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

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

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 168 of file CObject.h.

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

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

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPointPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inline

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 84 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject ( ) const

inline

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 95 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 78 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & 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() [3/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 101 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPoint3D &	mean_point
	)		const

pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		CPoint3D &	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 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 168 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & 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 124 of file CProbabilityDensityFunction.h.

◆ getMean()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( CPoint3D & mean_point ) const

pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovarianceAndMean, getInformationMatrix

◆ getMeanVal()

CPoint3D mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovariance, getInformationMatrix

Definition at line 67 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPointPDF::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

Reimplemented in mrpt::maps::CBeacon, mrpt::poses::CPointPDFSOG, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

Referenced by mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), and mrpt::poses::CPointPDFSOG::copyFrom().

◆ GetRuntimeClassIdStatic()

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

static

◆ is_3D()

static constexpr bool mrpt::poses::CPointPDF::is_3D ( )

inlinestatic

Definition at line 69 of file CPointPDF.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPointPDF::is_PDF ( )

inlinestatic

Definition at line 74 of file CPointPDF.h.

References is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPoint3D , 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

Definition at line 117 of file CProbabilityDensityFunction.h.

◆ saveToTextFile()

virtual bool mrpt::math::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::saveToTextFile ( const std::string & file ) const

pure virtualinherited

Save PDF's particles to a text file.

See derived classes for more information about the format of generated files.

Returns: false on error

Implemented in mrpt::poses::CPointPDFSOG, mrpt::maps::CBeacon, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFGaussian.

◆ serializeFrom()

virtual void mrpt::serialization::CSerializable::serializeFrom	(	CArchive &	in,
		uint8_t	serial_version
	)

protectedpure virtualinherited

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception On any I/O error

◆ serializeGetVersion()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const

protectedpure virtualinherited

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.

Referenced by mrpt::serialization::CArchive::WriteObject().

◆ serializeTo()

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive & out ) const

protectedpure virtualinherited

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Referenced by mrpt::serialization::CArchive::WriteObject().

◆ 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 68 of file CSerializable.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPointPDF::runtimeClassId

staticprotected

Definition at line 40 of file CPointPDF.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPoint3D , 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 31 of file CProbabilityDensityFunction.h.

Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ self_t

◆ type_value

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ drawManySamples()

◆ drawSingleSample()

◆ duplicateGetSmartPtr()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean()

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean()

◆ getMeanVal()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ saveToTextFile()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ writeToMatlab()

Member Data Documentation

◆ runtimeClassId

◆ state_length