mrpt::poses::CPose3DQuatPDFGaussian Class Reference

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion .

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.

Uncertainty of pose composition operations ( ) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

For further details on implemented methods and the theory behind them, see this report.

See also

CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf

Definition at line 44 of file CPose3DQuatPDFGaussian.h.

#include <mrpt/poses/CPose3DQuatPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussian:

Public Types
using	type_value = CPose3DQuat
	The type of the state the PDF represents. More...
using	self_t = CProbabilityDensityFunction< CPose3DQuat, 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
	CPose3DQuatPDFGaussian ()
	Default constructor - set all values to zero. More...
	CPose3DQuatPDFGaussian (mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param)
	Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. More...
	CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean)
	Constructor from a default mean value, covariance equals to zero. More...
	CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_Cov)
	Constructor with mean and covariance. More...
	CPose3DQuatPDFGaussian (const CPosePDFGaussian &o)
	Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). More...
	CPose3DQuatPDFGaussian (const CPose3DPDFGaussian &o)
	Constructor from an equivalent Gaussian in Euler angles representation. More...
const CPose3DQuat &	getPoseMean () const
CPose3DQuat &	getPoseMean ()
void	getMean (CPose3DQuat &mean_pose) const override
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
void	getCovarianceAndMean (mrpt::math::CMatrixDouble77 &cov, CPose3DQuat &mean_point) const override
	Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. More...
void	copyFrom (const CPose3DQuatPDF &o) override
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
void	copyFrom (const CPosePDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
void	copyFrom (const CPose3DPDFGaussian &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
bool	saveToTextFile (const std::string &file) const override
	Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. More...
void	changeCoordinatesReference (const CPose3DQuat &newReferenceBase)
	this = p (+) this. More...
void	changeCoordinatesReference (const CPose3D &newReferenceBase) override
	this = p (+) this. More...
void	drawSingleSample (CPose3DQuat &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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. More...
void	inverse (CPose3DQuatPDF &o) const override
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
CPose3DQuatPDFGaussian	operator- () const
	Unary - operator, returns the PDF of the inverse pose. More...
void	operator+= (const CPose3DQuat &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
void	operator+= (const CPose3DQuatPDFGaussian &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More...
void	operator-= (const CPose3DQuatPDFGaussian &Ap)
	Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More...
double	evaluatePDF (const CPose3DQuat &x) const
	Evaluates the PDF at a given point. More...
double	evaluateNormalizedPDF (const CPose3DQuat &x) const
	Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
double	mahalanobisDistanceTo (const CPose3DQuatPDFGaussian &theOther)
	Computes the Mahalanobis distance between the centers of two Gaussians. 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 (CPose3DQuat &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, CPose3DQuat &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, CPose3DQuat &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
CPose3DQuat	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 (CPose3DQuat &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 CPose3DQuatPDF *	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) It returns a new object of any of the derived classes of CPose3DQuatPDF. More...
static void	jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=nullptr)
	This static method computes the two Jacobians of a pose composition operation $f(x,u)= x \oplus u$. More...

Public Attributes
CPose3DQuat	mean
	The mean value. More...
mrpt::math::CMatrixDouble77	cov
	The 7x7 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
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...

RTTI stuff
using	Ptr = std::shared_ptr< CPose3DQuatPDFGaussian >
using	ConstPtr = std::shared_ptr< const CPose3DQuatPDFGaussian >
using	UniquePtr = std::unique_ptr< CPose3DQuatPDFGaussian >
using	ConstUniquePtr = std::unique_ptr< const CPose3DQuatPDFGaussian >
static mrpt::rtti::CLASSINIT	_init_CPose3DQuatPDFGaussian
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "CPose3DQuatPDFGaussian"
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::CPose3DQuatPDFGaussian::ConstPtr = std::shared_ptr<const CPose3DQuatPDFGaussian >

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

ConstUniquePtr

using mrpt::poses::CPose3DQuatPDFGaussian::ConstUniquePtr = std::unique_ptr<const CPose3DQuatPDFGaussian >

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

Ptr

using mrpt::poses::CPose3DQuatPDFGaussian::Ptr = std::shared_ptr< CPose3DQuatPDFGaussian >

A type for the associated smart pointer

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

self_t

using mrpt::math::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3DQuat , STATE_LEN>

inherited

Definition at line 36 of file CProbabilityDensityFunction.h.

type_value

using mrpt::math::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::type_value = CPose3DQuat

inherited

The type of the state the PDF represents.

Definition at line 35 of file CProbabilityDensityFunction.h.

UniquePtr

using mrpt::poses::CPose3DQuatPDFGaussian::UniquePtr = std::unique_ptr< CPose3DQuatPDFGaussian >

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

Constructor & Destructor Documentation

CPose3DQuatPDFGaussian() [1/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian

(

)

Default constructor - set all values to zero.

Definition at line 44 of file CPose3DQuatPDFGaussian.cpp.

CPose3DQuatPDFGaussian() [2/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian

(

mrpt::math::TConstructorFlags_Quaternions

constructor_dummy_param

)

Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.

Definition at line 46 of file CPose3DQuatPDFGaussian.cpp.

References MRPT_UNUSED_PARAM.

CPose3DQuatPDFGaussian() [3/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat &  init_Mean )

explicit

Constructor from a default mean value, covariance equals to zero.

Definition at line 54 of file CPose3DQuatPDFGaussian.cpp.

CPose3DQuatPDFGaussian() [4/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian	(	const CPose3DQuat &	init_Mean,
		const mrpt::math::CMatrixDouble77 &	init_Cov
	)

Constructor with mean and covariance.

Definition at line 60 of file CPose3DQuatPDFGaussian.cpp.

CPose3DQuatPDFGaussian() [5/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPosePDFGaussian &  o )

explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).

Definition at line 68 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom().

CPose3DQuatPDFGaussian() [6/6]

CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DPDFGaussian &  o )

explicit

Constructor from an equivalent Gaussian in Euler angles representation.

Definition at line 75 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom().

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::_GetBaseClass ( )

staticprotected

assureSymmetry()

void CPose3DQuatPDFGaussian::assureSymmetry ( )

protected

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

Definition at line 402 of file CPose3DQuatPDFGaussian.cpp.

References cov.

changeCoordinatesReference() [1/2]

void CPose3DQuatPDFGaussian::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::CPose3DQuatPDF.

Definition at line 236 of file CPose3DQuatPDFGaussian.cpp.

References changeCoordinatesReference(), MRPT_END, and MRPT_START.

changeCoordinatesReference() [2/2]

void CPose3DQuatPDFGaussian::changeCoordinatesReference

(

const CPose3DQuat &

newReferenceBase

)

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.

Definition at line 247 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, MRPT_END, MRPT_START, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by changeCoordinatesReference(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and Pose3DQuatPDFGaussTests::testChangeCoordsRef().

clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose3DQuatPDFGaussian::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

copyFrom() [1/3]

void CPose3DQuatPDFGaussian::copyFrom

(

const CPose3DPDFGaussian &

o

)

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

Definition at line 152 of file CPose3DQuatPDFGaussian.cpp.

References aux_poseypr2posequat(), cov, mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3DPDFGaussian::mean, mean, mrpt::poses::CPose3DQuat::quat(), mrpt::math::transform_gaussian_unscented(), mrpt::math::UNINITIALIZED_MATRIX, USE_SUT_EULER2QUAT_CONVERSION_value, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

copyFrom() [2/3]

void CPose3DQuatPDFGaussian::copyFrom ( const CPose3DQuatPDF &  o )

overridevirtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 120 of file CPose3DQuatPDFGaussian.cpp.

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

Referenced by copyFrom(), and CPose3DQuatPDFGaussian().

copyFrom() [3/3]

void CPose3DQuatPDFGaussian::copyFrom

(

const CPosePDF &

o

)

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

Definition at line 128 of file CPose3DQuatPDFGaussian.cpp.

References copyFrom(), and mrpt::poses::CPose3DPDFGaussian::copyFrom().

Create()

template<typename... Args>

static Ptr mrpt::poses::CPose3DQuatPDFGaussian::Create ( Args &&...  args )

inlinestatic

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

createFrom2D()

CPose3DQuatPDF * CPose3DQuatPDF::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) It returns a new object of any of the derived classes of CPose3DQuatPDF.

This object must be deleted by the user when not required anymore.

See also

copyFrom

Definition at line 26 of file CPose3DQuatPDF.cpp.

References MRPT_END, and MRPT_START.

CreateObject()

static mrpt::rtti::CObject* mrpt::poses::CPose3DQuatPDFGaussian::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose3DQuatPDFGaussian::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

drawManySamples()

void CPose3DQuatPDFGaussian::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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.

Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 284 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::random::getRandomGenerator(), mean, MRPT_END, and MRPT_START.

drawSingleSample() [1/2]

void CPose3DQuatPDFGaussian::drawSingleSample ( CPose3DQuat &  outPart ) const

override

Draws a single sample from the distribution.

Definition at line 274 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), mean, MRPT_END, and MRPT_START.

drawSingleSample() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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().

evaluateNormalizedPDF()

double CPose3DQuatPDFGaussian::evaluateNormalizedPDF

(

const CPose3DQuat &

x

)

const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

Definition at line 393 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and mrpt::math::normalPDF().

evaluatePDF()

double CPose3DQuatPDFGaussian::evaluatePDF

(

const CPose3DQuat &

x

)

const

Evaluates the PDF at a given point.

Definition at line 384 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and mrpt::math::normalPDF().

getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::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 109 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DQuatPDF::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()

Definition at line 98 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

getClassName()

static constexpr auto mrpt::poses::CPose3DQuatPDFGaussian::getClassName ( )

inlinestaticconstexpr

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric<double, STATE_LEN, STATE_LEN> mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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 CPose3DQuatPDFGaussian::getCovarianceAndMean ( mrpt::math::CMatrixDouble77 &  cov, CPose3DQuat &  mean_point  ) const

override

Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.

See also

getMean

Definition at line 90 of file CPose3DQuatPDFGaussian.cpp.

References cov, and mean.

getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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< CPose3DQuat , 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 CPose3DQuatPDFGaussian::getMean ( CPose3DQuat &  mean_pose ) const

override

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

See also

getCovariance

Definition at line 86 of file CPose3DQuatPDFGaussian.cpp.

References mean.

getMeanVal()

CPose3DQuat mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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.

getPoseMean() [1/2]

CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( )

inline

Definition at line 85 of file CPose3DQuatPDFGaussian.h.

References mean.

getPoseMean() [2/2]

const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( ) const

inline

Definition at line 84 of file CPose3DQuatPDFGaussian.h.

References mean.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DQuatPDF.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClassIdStatic ( )

static

inverse()

void CPose3DQuatPDFGaussian::inverse ( CPose3DQuatPDF &  o ) const

overridevirtual

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

Implements mrpt::poses::CPose3DQuatPDF.

Definition at line 301 of file CPose3DQuatPDFGaussian.cpp.

References ASSERT_, CLASS_ID, mrpt::math::CQuaternion< T >::conj(), cov, mrpt::poses::CPose3DQuatPDF::GetRuntimeClass(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mean, mrpt::poses::CPose3DQuat::quat(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by operator-().

isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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 CPose3DQuatPDF::jacobiansPoseComposition ( const CPose3DQuat &  x, const CPose3DQuat &  u, mrpt::math::CMatrixDouble77 &  df_dx, mrpt::math::CMatrixDouble77 &  df_du, CPose3DQuat *  out_x_oplus_u = nullptr  )

staticinherited

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x \oplus u$.

Parameters

out_x_oplus_u

If set to !=nullptr, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here: http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations

Definition at line 41 of file CPose3DQuatPDF.cpp.

References MRPT_MAX_ALIGN_BYTES, mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().

mahalanobisDistanceTo()

double CPose3DQuatPDFGaussian::mahalanobisDistanceTo

(

const CPose3DQuatPDFGaussian &

theOther

)

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

Definition at line 414 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::math::mahalanobisDistance(), mean, MRPT_END, and MRPT_START.

operator delete() [1/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  memory, void *  ptr  )

inlinenoexcept

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator delete() [2/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  ptr )

inlinenoexcept

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator delete() [3/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  ptr, const std::nothrow_t &    )

inlinenoexcept

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator delete[]()

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete[] ( void *  ptr )

inlinenoexcept

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator new() [1/3]

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size )

inline

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator new() [2/3]

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size, const std::nothrow_t &    )

inlinenoexcept

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator new() [3/3]

static void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator new[]()

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new[] ( size_t  size )

inline

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

operator+=() [1/2]

void CPose3DQuatPDFGaussian::operator+=

(

const CPose3DQuat &

Ap

)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

Definition at line 331 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

operator+=() [2/2]

void CPose3DQuatPDFGaussian::operator+=

(

const CPose3DQuatPDFGaussian &

Ap

)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).

Definition at line 352 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mean, and mrpt::math::UNINITIALIZED_MATRIX.

operator-()

CPose3DQuatPDFGaussian mrpt::poses::CPose3DQuatPDFGaussian::operator- ( ) const

inline

Unary - operator, returns the PDF of the inverse pose.

Definition at line 131 of file CPose3DQuatPDFGaussian.h.

References inverse(), and mrpt::math::UNINITIALIZED_QUATERNION.

operator-=()

void CPose3DQuatPDFGaussian::operator-=

(

const CPose3DQuatPDFGaussian &

Ap

)

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).

Definition at line 373 of file CPose3DQuatPDFGaussian.cpp.

saveToTextFile()

bool CPose3DQuatPDFGaussian::saveToTextFile ( const std::string &  file ) const

overridevirtual

Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines.

Implements mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >.

Definition at line 215 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mean, mrpt::poses::CPose3DQuat::quat(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

serializeFrom()

void CPose3DQuatPDFGaussian::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 104 of file CPose3DQuatPDFGaussian.cpp.

References cov, mrpt::math::deserializeSymmetricMatrixFrom(), mean, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

serializeGetVersion()

uint8_t CPose3DQuatPDFGaussian::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 97 of file CPose3DQuatPDFGaussian.cpp.

serializeTo()

void CPose3DQuatPDFGaussian::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 98 of file CPose3DQuatPDFGaussian.cpp.

References cov, mean, and mrpt::math::serializeSymmetricMatrixTo().

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_CPose3DQuatPDFGaussian

mrpt::rtti::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian

staticprotected

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

className

constexpr const char* mrpt::poses::CPose3DQuatPDFGaussian::className = "CPose3DQuatPDFGaussian"

staticconstexpr

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

cov

mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussian::cov

The 7x7 covariance matrix.

Definition at line 82 of file CPose3DQuatPDFGaussian.h.

Referenced by assureSymmetry(), changeCoordinatesReference(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), inverse(), mahalanobisDistanceTo(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), operator+=(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DQuatPDFGaussTests::testPoseComposition(), and Pose3DQuatPDFGaussTests::testPoseInverseComposition().

mean

CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussian::mean

The mean value.

Definition at line 80 of file CPose3DQuatPDFGaussian.h.

Referenced by changeCoordinatesReference(), copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), drawManySamples(), drawSingleSample(), evaluateNormalizedPDF(), evaluatePDF(), getCovarianceAndMean(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), getMean(), getPoseMean(), inverse(), mahalanobisDistanceTo(), operator+=(), mrpt::poses::operator==(), saveToTextFile(), serializeFrom(), serializeTo(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DQuatPDFGaussTests::testPoseComposition(), and Pose3DQuatPDFGaussTests::testPoseInverseComposition().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussian::runtimeClassId

staticprotected

Definition at line 46 of file CPose3DQuatPDFGaussian.h.

state_length

const size_t mrpt::math::CProbabilityDensityFunction< CPose3DQuat , 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.