Detailed Description

A gaussian distribution for 2D points.

Also a method for bayesian fusion is provided.

See also: CPoint2DPDF

Definition at line 23 of file CPoint2DPDFGaussian.h.

#include <mrpt/poses/CPoint2DPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPoint2DPDFGaussian:

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

using	type_value = CPoint2D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPoint2D, STATE_LEN >

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CPoint2DPDFGaussian ()
	Default constructor. More...

	CPoint2DPDFGaussian (const CPoint2D &init_Mean)
	Constructor. More...

	CPoint2DPDFGaussian (const CPoint2D &init_Mean, const mrpt::math::CMatrixDouble22 &init_Cov)
	Constructor. More...

void	getMean (CPoint2D &p) const override
	Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) More...

void	getCovarianceAndMean (mrpt::math::CMatrixDouble22 &out_cov, CPoint2D &mean_point) const override
	Returns an estimate of the point covariance matrix (2x2 cov matrix) and the mean, both at once. More...

void	copyFrom (const CPoint2DPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

bool	saveToTextFile (const std::string &file) const override
	Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. More...

void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
	this = p (+) this. More...

void	bayesianFusion (const CPoint2DPDFGaussian &p1, const CPoint2DPDFGaussian &p2)
	Bayesian fusion of two points gauss. More...

double	productIntegralWith (const CPoint2DPDFGaussian &p) const
	Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...

double	productIntegralNormalizedWith (const CPoint2DPDFGaussian &p) const
	Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...

void	drawSingleSample (CPoint2D &outSample) const override
	Draw a sample from the pdf. More...

void	bayesianFusion (const CPoint2DPDF &p1, const CPoint2DPDF &p2, const double minMahalanobisDistToDrop=0) override
	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...

double	mahalanobisDistanceTo (const CPoint2DPDFGaussian &other) const
	Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0) More...

double	mahalanobisDistanceToPoint (const double x, const double y) const
	Returns the Mahalanobis distance from this PDF to some point. 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 void	getMean (CPoint2D &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, CPoint2D &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, CPoint2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPoint2D	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 void	drawSingleSample (CPoint2D &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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static bool	is_3D ()

static bool	is_PDF ()

Public Attributes
CPoint2D	mean
	The mean value. More...

mrpt::math::CMatrixDouble22	cov
	The 2x2 covariance matrix. More...

Static Public Attributes
static const 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...

RTTI stuff

using	Ptr = std::shared_ptr< CPoint2DPDFGaussian >

using	ConstPtr = std::shared_ptr< const CPoint2DPDFGaussian >

using	UniquePtr = std::unique_ptr< CPoint2DPDFGaussian >

using	ConstUniquePtr = std::unique_ptr< const CPoint2DPDFGaussian >

static mrpt::rtti::CLASSINIT	_init_CPoint2DPDFGaussian

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPoint2DPDFGaussian"

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

static constexpr auto	getClassName ()

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

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPoint2DPDFGaussian::ConstPtr = std::shared_ptr<const CPoint2DPDFGaussian >

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ ConstUniquePtr

using mrpt::poses::CPoint2DPDFGaussian::ConstUniquePtr = std::unique_ptr<const CPoint2DPDFGaussian >

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ Ptr

using mrpt::poses::CPoint2DPDFGaussian::Ptr = std::shared_ptr< CPoint2DPDFGaussian >

A type for the associated smart pointer

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint2D , STATE_LEN>

inherited

Definition at line 36 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::type_value = CPoint2D

inherited

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPoint2DPDFGaussian::UniquePtr = std::unique_ptr< CPoint2DPDFGaussian >

Definition at line 25 of file CPoint2DPDFGaussian.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 63 of file CPoint2DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 68 of file CPoint2DPDF.h.

Constructor & Destructor Documentation

◆ CPoint2DPDFGaussian() [1/3]

CPoint2DPDFGaussian::CPoint2DPDFGaussian ( )

Default constructor.

Definition at line 32 of file CPoint2DPDFGaussian.cpp.

◆ CPoint2DPDFGaussian() [2/3]

CPoint2DPDFGaussian::CPoint2DPDFGaussian ( const CPoint2D & init_Mean )

Constructor.

Definition at line 45 of file CPoint2DPDFGaussian.cpp.

◆ CPoint2DPDFGaussian() [3/3]

CPoint2DPDFGaussian::CPoint2DPDFGaussian	(	const CPoint2D &	init_Mean,
		const mrpt::math::CMatrixDouble22 &	init_Cov
	)

Constructor.

Definition at line 36 of file CPoint2DPDFGaussian.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint2DPDFGaussian::_GetBaseClass ( )

staticprotected

◆ bayesianFusion() [1/2]

void CPoint2DPDFGaussian::bayesianFusion	(	const CPoint2DPDF &	p1,
		const CPoint2DPDF &	p2,
		const double	minMahalanobisDistToDrop = `0`
	)

overridevirtual

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.

Implements mrpt::poses::CPoint2DPDF.

Definition at line 203 of file CPoint2DPDFGaussian.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPoint2DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ bayesianFusion() [2/2]

void CPoint2DPDFGaussian::bayesianFusion	(	const CPoint2DPDFGaussian &	p1,
		const CPoint2DPDFGaussian &	p2
	)

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

(x1,S1): Mean and variance of the p1 distribution.
(x2,S2): Mean and variance of the p2 distribution.
(x,S): Mean and variance of the resulting distribution.

S = (S1^-1 + S2^-1)^-1; x = S * ( S1^-1*x1 + S2^-1*x2 );

Definition at line 118 of file CPoint2DPDFGaussian.cpp.

References cov, mean, MRPT_END, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ changeCoordinatesReference()

void CPoint2DPDFGaussian::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. Both the mean value and the covariance matrix are updated correctly.

Implements mrpt::poses::CPoint2DPDF.

Definition at line 101 of file CPoint2DPDFGaussian.cpp.

References cov, mrpt::poses::CPose3D::getRotationMatrix(), and mean.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPoint2DPDFGaussian::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPoint2DPDFGaussian::copyFrom ( const CPoint2DPDF & o )

overridevirtual

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

Implements mrpt::poses::CPoint2DPDF.

Definition at line 70 of file CPoint2DPDFGaussian.cpp.

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

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPoint2DPDFGaussian::Create ( Args &&... args )

inlinestatic

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPoint2DPDFGaussian::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPoint2DPDFGaussian::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 154 of file CProbabilityDensityFunction.h.

◆ drawSingleSample() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::drawSingleSample ( TDATA & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

void CPoint2DPDFGaussian::drawSingleSample ( CPoint2D & outSample ) const

override

Draw a sample from the pdf.

Definition at line 184 of file CPoint2DPDFGaussian.cpp.

References ASSERT_, cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ 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 169 of file CObject.h.

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

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

◆ getClassName()

static constexpr auto mrpt::poses::CPoint2DPDFGaussian::getClassName ( )

inlinestaticconstexpr

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 103 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 80 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

void mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 90 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

void mrpt::poses::CPoint2DPDFGaussian::getCovarianceAndMean	(	mrpt::math::CMatrixDouble22 &	out_cov,
		CPoint2D &	mean_point
	)		const

inlineoverride

Returns an estimate of the point covariance matrix (2x2 cov matrix) and the mean, both at once.

See also: getMean

Definition at line 46 of file CPoint2DPDFGaussian.h.

References cov, and mean.

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceAndMean	(	mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		TDATA &	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< CPoint2D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		TDATA &	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 56 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 170 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 126 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getMean ( TDATA & 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 mrpt::poses::CPoint2DPDFGaussian::getMean ( CPoint2D & p ) const

inlineoverride

Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)

Definition at line 43 of file CPoint2DPDFGaussian.h.

References mean.

◆ getMeanVal()

CPoint2D mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

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

See also: getCovariance, getInformationMatrix

Definition at line 69 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint2DPDFGaussian::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPoint2DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPoint2DPDFGaussian::GetRuntimeClassIdStatic ( )

static

◆ is_3D()

static bool mrpt::poses::CPoint2DPDF::is_3D ( )

inlinestaticinherited

Definition at line 67 of file CPoint2DPDF.h.

References mrpt::poses::CPoint2DPDF::is_3D_val.

◆ is_PDF()

static bool mrpt::poses::CPoint2DPDF::is_PDF ( )

inlinestaticinherited

Definition at line 72 of file CPoint2DPDF.h.

References mrpt::poses::CPoint2DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 119 of file CProbabilityDensityFunction.h.

◆ mahalanobisDistanceTo()

double CPoint2DPDFGaussian::mahalanobisDistanceTo ( const CPoint2DPDFGaussian & other ) const

Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0)

Definition at line 222 of file CPoint2DPDFGaussian.cpp.

References cov, mean, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and productIntegralNormalizedWith().

◆ mahalanobisDistanceToPoint()

double CPoint2DPDFGaussian::mahalanobisDistanceToPoint	(	const double	x,
		const double	y
	)		const

Returns the Mahalanobis distance from this PDF to some point.

Definition at line 236 of file CPoint2DPDFGaussian.cpp.

References mean, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::tfest::se2_l2_robust().

◆ operator delete() [1/3]

void mrpt::poses::CPoint2DPDFGaussian::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator delete() [2/3]

void mrpt::poses::CPoint2DPDFGaussian::operator delete ( void * ptr )

inlinenoexcept

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator delete() [3/3]

void mrpt::poses::CPoint2DPDFGaussian::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator delete[]()

void mrpt::poses::CPoint2DPDFGaussian::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator new() [1/3]

void* mrpt::poses::CPoint2DPDFGaussian::operator new ( size_t size )

inline

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator new() [2/3]

void* mrpt::poses::CPoint2DPDFGaussian::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPoint2DPDFGaussian::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ operator new[]()

void* mrpt::poses::CPoint2DPDFGaussian::operator new[] ( size_t size )

inline

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ productIntegralNormalizedWith()

double CPoint2DPDFGaussian::productIntegralNormalizedWith ( const CPoint2DPDFGaussian & p ) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is in the range [0,1]. Note that the resulting value is in fact

$exp( -\frac{1}{2} D^2 )$

, with $ D^2 $ being the square Mahalanobis distance between the two pdfs.

See also: productIntegralWith

Exceptions

std::exception On errors like covariance matrix with null determinant, etc...

Definition at line 175 of file CPoint2DPDFGaussian.cpp.

References mahalanobisDistanceTo(), and mrpt::square().

◆ productIntegralWith()

double CPoint2DPDFGaussian::productIntegralWith ( const CPoint2DPDFGaussian & p ) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is >=0.

See also: productIntegralNormalizedWith

Exceptions

std::exception On errors like covariance matrix with null determinant, etc...

Definition at line 147 of file CPoint2DPDFGaussian.cpp.

References cov, M_2PI, mean, MRPT_END, MRPT_START, mrpt::math::CProbabilityDensityFunction< CPoint2D, 2 >::state_length, mrpt::math::UNINITIALIZED_MATRIX, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ saveToTextFile()

bool CPoint2DPDFGaussian::saveToTextFile ( const std::string & file ) const

overridevirtual

Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::math::CProbabilityDensityFunction< CPoint2D, 2 >.

Definition at line 81 of file CPoint2DPDFGaussian.cpp.

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

◆ serializeFrom()

void CPoint2DPDFGaussian::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

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

Implements mrpt::serialization::CSerializable.

Definition at line 55 of file CPoint2DPDFGaussian.cpp.

References cov, mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CPoint2DPDFGaussian::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 50 of file CPoint2DPDFGaussian.cpp.

◆ serializeTo()

void CPoint2DPDFGaussian::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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 51 of file CPoint2DPDFGaussian.cpp.

References cov, and mean.

◆ 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 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CPoint2DPDFGaussian

mrpt::rtti::CLASSINIT mrpt::poses::CPoint2DPDFGaussian::_init_CPoint2DPDFGaussian

staticprotected

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ className

constexpr const char* mrpt::poses::CPoint2DPDFGaussian::className = "CPoint2DPDFGaussian"

staticconstexpr

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble22 mrpt::poses::CPoint2DPDFGaussian::cov

The 2x2 covariance matrix.

Definition at line 39 of file CPoint2DPDFGaussian.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), bayesianFusion(), changeCoordinatesReference(), copyFrom(), drawSingleSample(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), getCovarianceAndMean(), mahalanobisDistanceTo(), productIntegralWith(), saveToTextFile(), serializeFrom(), and serializeTo().

◆ mean

CPoint2D mrpt::poses::CPoint2DPDFGaussian::mean

The mean value.

Definition at line 37 of file CPoint2DPDFGaussian.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), bayesianFusion(), changeCoordinatesReference(), copyFrom(), drawSingleSample(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), getCovarianceAndMean(), getMean(), mahalanobisDistanceTo(), mahalanobisDistanceToPoint(), productIntegralWith(), saveToTextFile(), serializeFrom(), and serializeTo().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoint2DPDFGaussian::runtimeClassId

staticprotected

Definition at line 25 of file CPoint2DPDFGaussian.h.

◆ state_length

const size_t mrpt::math::CProbabilityDensityFunction< CPoint2D , 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 33 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPoint2DPDFGaussian() [1/3]

◆ CPoint2DPDFGaussian() [2/3]

◆ CPoint2DPDFGaussian() [3/3]

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion() [1/2]

◆ bayesianFusion() [2/2]

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean() [1/2]

◆ getMean() [2/2]

◆ getMeanVal()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ mahalanobisDistanceTo()

◆ mahalanobisDistanceToPoint()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ productIntegralNormalizedWith()

◆ productIntegralWith()

◆ saveToTextFile()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CPoint2DPDFGaussian

◆ className

◆ cov

◆ mean

◆ runtimeClassId

◆ state_length