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28 m_particles.resize(M);
29 TPose3D nullPose(0, 0, 0, 0, 0, 0);
30 resetDeterministic(nullPose);
36 if (
this == &o)
return;
56 if (m_particles.empty())
return;
60 for (
const auto& part : m_particles)
62 const double w = exp(part.log_w);
82 double std_xy = 0, std_xz = 0, std_xya = 0, std_xp = 0, std_xr = 0;
83 double std_yz = 0, std_yya = 0, std_yp = 0, std_yr = 0;
84 double std_zya = 0, std_zp = 0, std_zr = 0;
85 double std_yap = 0, std_yar = 0;
89 double mean_yaw =
mean.yaw();
90 double mean_pitch =
mean.pitch();
91 double mean_roll =
mean.roll();
92 if (mean_yaw < 0) mean_yaw +=
M_2PI;
93 if (mean_pitch < 0) mean_pitch +=
M_2PI;
94 if (mean_roll < 0) mean_roll +=
M_2PI;
97 if (m_particles.size() < 2)
return;
101 for (
const auto&
p : m_particles) W += exp(
p.log_w);
106 for (
const auto&
p : m_particles)
108 double w = exp(
p.log_w) / W;
111 double err_yaw =
wrapToPi(std::abs(
p.d.yaw - mean_yaw));
112 double err_pitch =
wrapToPi(std::abs(
p.d.pitch - mean_pitch));
113 double err_roll =
wrapToPi(std::abs(
p.d.roll - mean_roll));
115 double err_x =
p.d.x -
mean.x();
116 double err_y =
p.d.y -
mean.y();
117 double err_z =
p.d.z -
mean.z();
122 vars[3] +=
square(err_yaw) *
w;
123 vars[4] +=
square(err_pitch) *
w;
124 vars[5] +=
square(err_roll) *
w;
126 std_xy += err_x * err_y *
w;
127 std_xz += err_x * err_z *
w;
128 std_xya += err_x * err_yaw *
w;
129 std_xp += err_x * err_pitch *
w;
130 std_xr += err_x * err_roll *
w;
132 std_yz += err_y * err_z *
w;
133 std_yya += err_y * err_yaw *
w;
134 std_yp += err_y * err_pitch *
w;
135 std_yr += err_y * err_roll *
w;
137 std_zya += err_z * err_yaw *
w;
138 std_zp += err_z * err_pitch *
w;
139 std_zr += err_z * err_roll *
w;
141 std_yap += err_yaw * err_pitch *
w;
142 std_yar += err_yaw * err_roll *
w;
144 std_pr += err_pitch * err_roll *
w;
155 cov(1, 0) =
cov(0, 1) = std_xy;
156 cov(2, 0) =
cov(0, 2) = std_xz;
157 cov(3, 0) =
cov(0, 3) = std_xya;
158 cov(4, 0) =
cov(0, 4) = std_xp;
159 cov(5, 0) =
cov(0, 5) = std_xr;
161 cov(2, 1) =
cov(1, 2) = std_yz;
162 cov(3, 1) =
cov(1, 3) = std_yya;
163 cov(4, 1) =
cov(1, 4) = std_yp;
164 cov(5, 1) =
cov(1, 5) = std_yr;
166 cov(3, 2) =
cov(2, 3) = std_zya;
167 cov(4, 2) =
cov(2, 4) = std_zp;
168 cov(5, 2) =
cov(2, 5) = std_zr;
170 cov(4, 3) =
cov(3, 4) = std_yap;
171 cov(5, 3) =
cov(3, 5) = std_yar;
173 cov(5, 4) =
cov(4, 5) = std_pr;
181 writeParticlesToStream(out);
190 readParticlesFromStream(
in);
208 if (!f)
return false;
210 os::fprintf(f,
"%% x y z yaw[rad] pitch[rad] roll[rad] log_weight\n");
212 for (
const auto&
p : m_particles)
214 f,
"%f %f %f %f %f %f %e\n",
p.d.x,
p.d.y,
p.d.z,
p.d.yaw,
215 p.d.pitch,
p.d.roll,
p.log_w);
223 return m_particles[i].d;
227 const CPose3D& newReferenceBase)
229 for (
auto&
p : m_particles)
230 p.d = (newReferenceBase +
CPose3D(
p.d)).asTPose();
240 size_t N, std::vector<CVectorDouble>& outSamples)
const
274 double max_w = -std::numeric_limits<double>::max();
275 for (
const auto&
p : m_particles)
297 if (particlesCount > 0) m_particles.resize(particlesCount);
299 for (
auto&
p : m_particles)
bool saveToTextFile(const std::string &file) const override
Save PDF's m_particles to a text file.
void operator+=(const CPose3D &Ap)
Appends (pose-composition) a given pose "p" to each particle.
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
int void fclose(FILE *f)
An OS-independent version of fclose.
void resetDeterministic(const mrpt::math::TPose3D &location, size_t particlesCount=0)
Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.
virtual const mrpt::rtti::TRuntimeClassId * GetRuntimeClass() const override
Returns information about the class of an object in runtime.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
void get_average(mrpt::poses::CPose3D &out_mean) const
Returns the average pose.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
GLubyte GLubyte GLubyte GLubyte w
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) override
Bayesian fusion.
mrpt::math::TPose3D getMostLikelyParticle() const
Returns the particle with the highest weight.
#define THROW_EXCEPTION(msg)
#define ASSERT_(f)
Defines an assertion mechanism.
T square(const T x)
Inline function for the square of a number.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample,...
Virtual base class for "archives": classes abstracting I/O streams.
void getCovarianceAndMean(mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const override
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
void append(const mrpt::poses::CPose3D &p)
Adds a new pose to the computation.
T wrapToPi(T a)
Modifies the given angle to translate it into the ]-pi,pi] range.
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors,...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void drawSingleSample(CPose3D &outPart) const override
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!...
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
A numeric matrix of compile-time fixed size.
void copyFrom(const CPose3DPDF &o) override
Copy operator, translating if necesary (for example, between m_particles and gaussian representations...
CParticleList m_particles
The array of particles.
void inverse(CPose3DPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
int fprintf(FILE *fil, const char *format,...) noexcept MRPT_printf_format_check(2
An OS-independent version of fprintf.
#define CLASS_ID(T)
Access to runtime class ID for a defined class name.
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
Computes weighted and un-weighted averages of SE(3) poses.
mrpt::math::TPose3D getParticlePose(int i) const
Returns the pose of the i'th particle.
This base provides a set of functions for maths stuff.
void getMean(CPose3D &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF),...
FILE * fopen(const char *fileName, const char *mode) noexcept
An OS-independent version of fopen.
GLsizei const GLchar ** string
void append(CPose3DPDFParticles &o)
Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
This namespace provides a OS-independent interface to many useful functions: filenames manipulation,...
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