CPose3DQuatPDFGaussianInf.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                       http://www.mrpt.org/                                |
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   |   Copyright (C) 2005-2011  University of Malaga                           |
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   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
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   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
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   +---------------------------------------------------------------------------+ */
#ifndef CPose3DQuatPDFGaussianInf_H
#define CPose3DQuatPDFGaussianInf_H

#include <mrpt/poses/CPose3DQuatPDF.h>
#include <mrpt/poses/CPose3DPDF.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/math/CMatrixD.h>

namespace mrpt
{
namespace poses
{
        class CPosePDFGaussian;
        class CPose3DPDFGaussian;

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose3DQuatPDFGaussianInf , CPose3DQuatPDF )

        /** Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion \f$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top \f$.
         *
         *   This class implements that PDF using a mono-modal Gaussian distribution storing the information matrix instead of its inverse, the covariance matrix.
         *     See mrpt::poses::CPose3DQuatPDF for more details, or
         *     mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
         *
         *  Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".
         *
         *  For further details on implemented methods and the theory behind them,
         *  see <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty" >this report</a>.
         *
         * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian
         * \ingroup poses_pdf_grp
         */
        class BASE_IMPEXP CPose3DQuatPDFGaussianInf : public CPose3DQuatPDF
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CPose3DQuatPDFGaussianInf )

         public:
                 /** Default constructor - set all values to zero. */
                CPose3DQuatPDFGaussianInf();

                /** Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. */
                CPose3DQuatPDFGaussianInf(TConstructorFlags_Quaternions constructor_dummy_param);

                /** Constructor from a default mean value, information matrix equals to zero. */
                explicit CPose3DQuatPDFGaussianInf( const CPose3DQuat &init_Mean );

                /** Constructor with mean and inverse covariance (information matrix). */
                CPose3DQuatPDFGaussianInf( const CPose3DQuat &init_Mean, const CMatrixDouble77 &init_CovInv );

                /** The mean value */
                CPose3DQuat             mean;

                /** The 7x7 information matrix (the inverse of the covariance) */
                CMatrixDouble77         cov_inv;

                inline const CPose3DQuat & getPoseMean() const { return mean; }
                inline       CPose3DQuat & getPoseMean()       { return mean; }

                 /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
                   * \sa getCovariance */
                void getMean(CPose3DQuat &mean_pose) const {
                        mean_pose = mean;
                }

                /** Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.
                  * \sa getMean */
                void getCovarianceAndMean(CMatrixDouble77 &cov,CPose3DQuat &mean_point) const {
                        cov_inv.inv(cov);
                        mean_point = mean;
                }

                /** Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) \sa getMean, getCovarianceAndMean */
                virtual void getInformationMatrix(CMatrixDouble77 &inf) const { inf=cov_inv; }


                /** Copy operator, translating if necesary (for example, between particles and gaussian representations) */
                void  copyFrom(const CPose3DQuatPDF &o);

                /** Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information matrix in the next 7 lines. */
                void  saveToTextFile(const std::string &file) const;

                /** 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.
                  */
                void  changeCoordinatesReference(  const CPose3DQuat &newReferenceBase );

                /** 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.
                  */
                void  changeCoordinatesReference(  const CPose3D &newReferenceBase );

                /** Draws a single sample from the distribution */
                void  drawSingleSample( CPose3DQuat &outPart ) const;

                /** 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. */
                void  drawManySamples( size_t N, std::vector<vector_double> & outSamples ) const;

                /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
                void     inverse(CPose3DQuatPDF &o) const;

                /** Unary - operator, returns the PDF of the inverse pose.  */
                inline CPose3DQuatPDFGaussianInf operator -() const
                {
                        CPose3DQuatPDFGaussianInf p(UNINITIALIZED_QUATERNION);
                        this->inverse(p);
                        return p;
                }

                /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
                  */
                void  operator += ( const CPose3DQuat &Ap);

                /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
                  */
                void  operator += ( const CPose3DQuatPDFGaussianInf &Ap);

                /** Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
                  */
                void  operator -= ( const CPose3DQuatPDFGaussianInf &Ap);

                /** Evaluates the PDF at a given point.
                  */
                double  evaluatePDF( const CPose3DQuat &x ) const;

                /** Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
                  */
                double  evaluateNormalizedPDF( const CPose3DQuat &x ) const;

        }; // End of class def.


        /** Pose composition for two 3D pose Gaussians  \sa CPose3DQuatPDFGaussianInf::operator += */
        inline CPose3DQuatPDFGaussianInf operator +( const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u )
        {
                CPose3DQuatPDFGaussianInf       res(x);
                res+=u;
                return res;
        }

        /** Inverse pose composition for two 3D pose Gaussians  \sa CPose3DQuatPDFGaussianInf::operator -= */
        inline CPose3DQuatPDFGaussianInf operator -( const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u )
        {
                CPose3DQuatPDFGaussianInf       res(x);
                res-=u;
                return res;
        }

        /** Dumps the mean and covariance matrix to a text stream.
          */
        std::ostream  BASE_IMPEXP & operator << (std::ostream & out, const CPose3DQuatPDFGaussianInf& obj);

        bool BASE_IMPEXP operator==(const CPose3DQuatPDFGaussianInf &p1,const CPose3DQuatPDFGaussianInf &p2);

        } // End of namespace

} // End of namespace

#endif