Detailed Description

Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi).

This class is just the base class for unifying many diferent ways this pdf can be implemented.

For convenience, a pose composition is also defined for any pdf derived class, changeCoordinatesReference, in the form of a method rather than an operator.

See also the tutorial on probabilistic spatial representations in the MRPT.

See also:: CPose2D, CPose3DPDF, CPoseRandomSampler

Definition at line 60 of file CPosePDF.h.

#include <mrpt/poses/CPosePDF.h>

Inheritance diagram for mrpt::poses::CPosePDF:

[legend]

List of all members.

Public Types
enum	{ is_3D_val = 0 }
enum	{ is_PDF_val = 1 }
typedef CPose2D	type_value
	The type of the state the PDF represents.
Public Member Functions
virtual void	copyFrom (const CPosePDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
virtual void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)=0
	Bayesian fusion of two pose 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!)
virtual void	inverse (CPosePDF &o) const =0
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
template<class OPENGL_SETOFOBJECTSPTR >
void	getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
	Returns a 3D representation of this PDF.
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR	getAs3DObject () const
	Returns a 3D representation of this PDF.
virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its class.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	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).
CObject *	clone () const
	Cloning interface for smart pointers.
virtual void	getMean (CPose2D &mean_point) const =0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF).
virtual void	getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const =0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
void	getCovarianceDynAndMean (CMatrixDouble &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
CPose2D	getMeanVal () const
	Returns the mean, or mathematical expectation of the probability density distribution (PDF).
void	getCovariance (CMatrixDouble &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
void	getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN >	getCovariance () const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
virtual void	getInformationMatrix (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.
virtual void	saveToTextFile (const std::string &file) const =0
	Save PDF's particles to a text file.
virtual void	drawSingleSample (CPose2D &outPart) const =0
	Draws a single sample from the distribution.
virtual void	drawManySamples (size_t N, std::vector< vector_double > &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.
virtual void	changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0
	This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix.
Static Public Member Functions
static void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)
	This static method computes the pose composition Jacobians, with these formulas:
static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)
static bool	is_3D ()
static bool	is_PDF ()
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
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).
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPosePDF
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.

Member Typedef Documentation

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value [inherited]

The type of the state the PDF represents.

Definition at line 54 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

is_3D_val

Definition at line 110 of file CPosePDF.h.

anonymous enum

Enumerator:

is_PDF_val

Definition at line 112 of file CPosePDF.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDF::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

virtual void mrpt::poses::CPosePDF::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)		`[pure virtual]`

Bayesian fusion of two pose 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.

Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::changeCoordinatesReference ( const mrpt::poses::CPose3D & newReferenceBase ) [pure virtual, inherited]

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.

Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

virtual void mrpt::poses::CPosePDF::copyFrom ( const CPosePDF & o ) [pure virtual]

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

Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const `[inline, virtual, inherited]`

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 139 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const [pure virtual, inherited]

Draws a single sample from the distribution.

virtual CObject* mrpt::utils::CObject::duplicate ( ) const [pure virtual, inherited]

Returns a copy of the object, indepently of its class.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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 151 of file CObject.h.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const [inline]

Returns a 3D representation of this PDF.

Note:: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 119 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const [inline]

Returns a 3D representation of this PDF.

Note:: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 128 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( CMatrixDouble & cov ) const [inline, inherited]

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also:: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 89 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & cov ) const [inline, inherited]

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also:: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( ) const [inline, inherited]

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also:: getMean, getInformationMatrix

Definition at line 107 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose2D &	mean_point
	)		const `[pure virtual, inherited]`

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

See also:: getMean, getInformationMatrix

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		CPose2D &	mean_point
	)		const `[inline, inherited]`

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 69 of file CProbabilityDensityFunction.h.

References mrpt::math::UNINITIALIZED_MATRIX.

double mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const [inline, inherited]

Compute the entropy of the estimated covariance matrix.

See also:: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 158 of file CProbabilityDensityFunction.h.

References det().

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & inf ) const [inline, virtual, inherited]

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 120 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D & mean_point ) const [pure virtual, inherited]

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

See also:: getCovarianceAndMean, getInformationMatrix

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMeanVal ( ) const [inline, inherited]

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

See also:: getCovariance, getInformationMatrix

Definition at line 79 of file CProbabilityDensityFunction.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDF::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

virtual void mrpt::poses::CPosePDF::inverse ( CPosePDF & o ) const [pure virtual]

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

Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

static bool mrpt::poses::CPosePDF::is_3D ( ) [inline, static]

Definition at line 111 of file CPosePDF.h.

static bool mrpt::poses::CPosePDF::is_PDF ( ) [inline, static]

Definition at line 113 of file CPosePDF.h.

static void mrpt::poses::CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		CMatrixDouble33 &	df_dx,
		CMatrixDouble33 &	df_du
	)		`[static]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

static void mrpt::poses::CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		CMatrixDouble33 &	df_dx,
		CMatrixDouble33 &	df_du
	)		`[static]`

This static method computes the pose composition Jacobians, with these formulas:

                                df_dx =
                                [ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
                                [ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
                                [ 0, 0,                              1 ]

                                df_du =
                                [ cos(phi_x) , -sin(phi_x) ,  0  ]
                                [ sin(phi_x) ,  cos(phi_x) ,  0  ]
                                [         0  ,          0  ,  1  ]

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrix, and mrpt::math::CMatrixD.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::saveToTextFile ( const std::string & file ) const [pure virtual, inherited]

Save PDF's particles to a text file.

See derived classes for more information about the format of generated files.

Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer