Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

This class implements that PDF as the following multi-modal Gaussian distribution:

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See also: CPose3DPDF

Definition at line 34 of file CPose3DPDFSOG.h.

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:

Classes
struct	TGaussianMode
	The struct for each mode: More...

Public Types
using	TModesList = std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11< TGaussianMode > >

using	const_iterator = TModesList::const_iterator

using	iterator = TModesList::iterator

enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	type_value = CPose3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose3D, 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

	CPose3DPDFSOG (size_t nModes=1)
	Default constructor. More...

void	clear ()
	Clear all the gaussian modes. More...

void	resize (const size_t N)
	Set the number of SOG modes. More...

size_t	size () const
	Return the number of Gaussian modes. More...

bool	empty () const
	Return whether there is any Gaussian mode. More...

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

void	getMean (CPose3D &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. More...

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. More...

void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0. More...

void	getMostLikelyMode (CPose3DPDFGaussian &outVal) const
	Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More...

void	copyFrom (const CPose3DPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

bool	saveToTextFile (const std::string &file) const override
	Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More...

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

void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) More...

void	drawSingleSample (CPose3D &outPart) const override
	Draws a single sample from the distribution. 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 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...

void	inverse (CPose3DPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

void	appendFrom (const CPose3DPDFSOG &o)
	Append the Gaussian modes from "o" to the current set of modes of "this" density. 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 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 (CPose3D &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, CPose3D &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, CPose3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

CPose3D	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 (CPose3D &outPart) const=0
	Draws a single sample from the distribution. 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 CPose3DPDF *	createFrom2D (const CPosePDF &o)
	This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) More...

static void	jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
	This static method computes the pose composition Jacobians. More...

static bool	is_3D ()

static bool	is_PDF ()

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
void	assureSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More...

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...

Protected Attributes
TModesList	m_modes
	Access directly to this array for modify the modes as desired. More...

RTTI stuff

using	Ptr = std::shared_ptr< CPose3DPDFSOG >

using	ConstPtr = std::shared_ptr< const CPose3DPDFSOG >

using	UniquePtr = std::unique_ptr< CPose3DPDFSOG >

using	ConstUniquePtr = std::unique_ptr< const CPose3DPDFSOG >

static mrpt::rtti::CLASSINIT	_init_CPose3DPDFSOG

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose3DPDFSOG"

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

◆ const_iterator

using mrpt::poses::CPose3DPDFSOG::const_iterator = TModesList::const_iterator

Definition at line 54 of file CPose3DPDFSOG.h.

◆ ConstPtr

using mrpt::poses::CPose3DPDFSOG::ConstPtr = std::shared_ptr<const CPose3DPDFSOG >

Definition at line 36 of file CPose3DPDFSOG.h.

◆ ConstUniquePtr

using mrpt::poses::CPose3DPDFSOG::ConstUniquePtr = std::unique_ptr<const CPose3DPDFSOG >

Definition at line 36 of file CPose3DPDFSOG.h.

◆ iterator

using mrpt::poses::CPose3DPDFSOG::iterator = TModesList::iterator

Definition at line 55 of file CPose3DPDFSOG.h.

◆ Ptr

using mrpt::poses::CPose3DPDFSOG::Ptr = std::shared_ptr< CPose3DPDFSOG >

A type for the associated smart pointer

Definition at line 36 of file CPose3DPDFSOG.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3D , STATE_LEN>

inherited

Definition at line 36 of file CProbabilityDensityFunction.h.

◆ TModesList

using mrpt::poses::CPose3DPDFSOG::TModesList = std::vector<TGaussianMode, mrpt::aligned_allocator_cpp11<TGaussianMode> >

Definition at line 53 of file CPose3DPDFSOG.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value = CPose3D

inherited

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::poses::CPose3DPDFSOG::UniquePtr = std::unique_ptr< CPose3DPDFSOG >

Definition at line 36 of file CPose3DPDFSOG.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_3D_val

Definition at line 104 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 109 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFSOG()

CPose3DPDFSOG::CPose3DPDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters

nModes The initial size of CPose3DPDFSOG::m_modes

Definition at line 29 of file CPose3DPDFSOG.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( )

staticprotected

◆ appendFrom()

void CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG & o )

Append the Gaussian modes from "o" to the current set of modes of "this" density.

Definition at line 364 of file CPose3DPDFSOG.cpp.

References ASSERT_, m_modes, MRPT_END, and MRPT_START.

◆ assureSymmetry()

void CPose3DPDFSOG::assureSymmetry ( )

protected

Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)

Definition at line 282 of file CPose3DPDFSOG.cpp.

References MRPT_END, MRPT_START, and val.

◆ bayesianFusion()

void CPose3DPDFSOG::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

overridevirtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

Definition at line 201 of file CPose3DPDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ begin() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::begin ( )

inline

Definition at line 83 of file CPose3DPDFSOG.h.

References m_modes.

Referenced by mrpt::poses::CPose3DPDF::createFrom2D().

◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const

inline

Definition at line 85 of file CPose3DPDFSOG.h.

References m_modes.

◆ changeCoordinatesReference()

void CPose3DPDFSOG::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::CPose3DPDF.

Definition at line 192 of file CPose3DPDFSOG.cpp.

References val.

◆ clear()

void CPose3DPDFSOG::clear ( )

Clear all the gaussian modes.

Definition at line 33 of file CPose3DPDFSOG.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DPDFSOG::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ copyFrom()

void CPose3DPDFSOG::copyFrom ( const CPose3DPDF & o )

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 149 of file CPose3DPDFSOG.cpp.

References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DPDFSOG::Create ( Args &&... args )

inlinestatic

Definition at line 36 of file CPose3DPDFSOG.h.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF & o )

staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)

Warning: It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.

See also: copyFrom

Definition at line 34 of file CPose3DPDF.cpp.

References begin(), CLASS_ID, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mrpt::poses::CPose3DPDFGaussianInf::mean, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPose3DPDFSOG::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DPDFSOG::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 36 of file CPose3DPDFSOG.h.

◆ drawManySamples()

void CPose3DPDFSOG::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 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 328 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [1/2]

void CPose3DPDFSOG::drawSingleSample ( CPose3D & outPart ) const

override

Draws a single sample from the distribution.

Definition at line 319 of file CPose3DPDFSOG.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( TDATA & 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 169 of file CObject.h.

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

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

◆ empty()

bool mrpt::poses::CPose3DPDFSOG::empty ( ) const

inline

Return whether there is any Gaussian mode.

Definition at line 82 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::end ( )

inline

Definition at line 84 of file CPose3DPDFSOG.h.

References m_modes.

◆ end() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const

inline

Definition at line 86 of file CPose3DPDFSOG.h.

References m_modes.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 136 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::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()

See also: mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 125 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getClassName()

static constexpr auto mrpt::poses::CPose3DPDFSOG::getClassName ( )

inlinestaticconstexpr

Definition at line 36 of file CPose3DPDFSOG.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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 CPose3DPDFSOG::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.

See also: getMean

Definition at line 65 of file CPose3DPDFSOG.cpp.

References mean(), and val.

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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< CPose3D , 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< CPose3D , 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 CPose3DPDFSOG::getMean ( CPose3D & mean_pose ) const

override

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

See also: getCovariance

Definition at line 43 of file CPose3DPDFSOG.cpp.

References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), and val.

◆ getMeanVal()

CPose3D mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ getMostLikelyMode()

void CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian & outVal ) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

Definition at line 382 of file CPose3DPDFSOG.cpp.

References empty().

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDFSOG::GetRuntimeClassIdStatic ( )

static

◆ inverse()

void CPose3DPDFSOG::inverse ( CPose3DPDF & o ) const

overridevirtual

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

Implements mrpt::poses::CPose3DPDF.

Definition at line 339 of file CPose3DPDFSOG.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), m_modes, MRPT_END, MRPT_START, resize(), and val.

◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )

inlinestaticinherited

Definition at line 108 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_3D_val.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )

inlinestaticinherited

Definition at line 113 of file CPose3DPDF.h.

References mrpt::poses::CPose3DPDF::is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , 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.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)

Definition at line 141 of file CPose3DPDF.cpp.

References mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

◆ normalizeWeights()

void CPose3DPDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

Definition at line 300 of file CPose3DPDFSOG.cpp.

References MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DPDFSOG::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DPDFSOG::operator delete ( void * ptr )

inlinenoexcept

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DPDFSOG::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator delete[]()

void mrpt::poses::CPose3DPDFSOG::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DPDFSOG::operator new ( size_t size )

inline

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DPDFSOG::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPose3DPDFSOG::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 36 of file CPose3DPDFSOG.h.

◆ operator new[]()

void* mrpt::poses::CPose3DPDFSOG::operator new[] ( size_t size )

inline

Definition at line 36 of file CPose3DPDFSOG.h.

◆ resize()

void CPose3DPDFSOG::resize ( const size_t N )

Set the number of SOG modes.

Definition at line 37 of file CPose3DPDFSOG.cpp.

Referenced by inverse().

◆ saveToTextFile()

bool CPose3DPDFSOG::saveToTextFile ( const std::string & file ) const

overridevirtual

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

w (The linear weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
x_mean (gaussian mean value)
yaw_mean (gaussian mean value, in radians)
pitch_mean (gaussian mean value, in radians)
roll_mean (gaussian mean value, in radians)
C11,C22,C33,C44,C55,C66 (Covariance elements)
C12,C13,C14,C15,C16 (Covariance elements)
C23,C24,C25,C25 (Covariance elements)
C34,C35,C36 (Covariance elements)
C45,C46 (Covariance elements)
C56 (Covariance elements)

Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.

Definition at line 174 of file CPose3DPDFSOG.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and val.

◆ serializeFrom()

void CPose3DPDFSOG::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 111 of file CPose3DPDFSOG.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, THROW_EXCEPTION, and val.

◆ serializeGetVersion()

uint8_t CPose3DPDFSOG::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 99 of file CPose3DPDFSOG.cpp.

◆ serializeTo()

void CPose3DPDFSOG::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 100 of file CPose3DPDFSOG.cpp.

References val.

◆ size()

size_t mrpt::poses::CPose3DPDFSOG::size ( ) const

inline

Return the number of Gaussian modes.

Definition at line 80 of file CPose3DPDFSOG.h.

References m_modes.

◆ 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_CPose3DPDFSOG

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DPDFSOG::_init_CPose3DPDFSOG

staticprotected

Definition at line 36 of file CPose3DPDFSOG.h.

◆ className

constexpr const char* mrpt::poses::CPose3DPDFSOG::className = "CPose3DPDFSOG"

staticconstexpr

Definition at line 36 of file CPose3DPDFSOG.h.

◆ m_modes

TModesList mrpt::poses::CPose3DPDFSOG::m_modes

protected

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes

Definition at line 67 of file CPose3DPDFSOG.h.

Referenced by appendFrom(), begin(), empty(), end(), inverse(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDFSOG::runtimeClassId

staticprotected

Definition at line 36 of file CPose3DPDFSOG.h.

◆ state_length

const size_t mrpt::math::CProbabilityDensityFunction< CPose3D , 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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ self_t

◆ TModesList

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose3DPDFSOG()

Member Function Documentation

◆ _GetBaseClass()

◆ appendFrom()

◆ assureSymmetry()

◆ bayesianFusion()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesReference()

◆ clear()

◆ clone()

◆ copyFrom()

◆ Create()

◆ createFrom2D()

◆ CreateObject()

◆ CreateUnique()

◆ drawManySamples()

◆ drawSingleSample() [1/2]

◆ drawSingleSample() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ 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()

◆ getMostLikelyMode()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ normalizeWeights()

◆ 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[]()

◆ resize()

◆ saveToTextFile()

◆ serializeFrom()