Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).

This class implements that PDF using a 3D grid.

See also:: CPose2D, CPosePDF, CPose2DGridTemplate

Definition at line 50 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:

[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
	CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
	Constructor: Initializes a, uniform distribution over the whole given range.
virtual	~CPosePDFGrid ()
	Destructor.
void	copyFrom (const CPosePDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
void	normalize ()
	Normalizes the PDF, such as all cells sum the unity.
void	uniformDistribution ()
	Assigns the same value to all the cells in the grid, so the sum 1.
void	getMean (CPose2D &mean_pose) const
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
void	getCovarianceAndMean (CMatrixDouble33 &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
void	saveToTextFile (const std::string &dataFile) const
	Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".
void	changeCoordinatesReference (const CPose3D &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.
void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)
	Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)
void	inverse (CPosePDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void	drawSingleSample (CPose2D &outPart) const
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)
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 1x3 vectors, where each row contains a (x,y,phi) datum.
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.
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	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.
double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix.
size_t	x2idx (double x) const
	Returns "indexes" from coordinates:
size_t	y2idx (double y) const
	Returns "indexes" from coordinates:
size_t	phi2idx (double phi) const
	Returns "indexes" from coordinates:
double	idx2x (size_t x) const
	Returns coordinates from "indexes":
double	idx2y (size_t y) const
	Returns coordinates from "indexes":
double	idx2phi (size_t phi) const
	Returns coordinates from "indexes":
void	setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)
	Changes the limits and size of the grid, erasing previous contents:
const double *	getByPos (double x, double y, double phi) const
	Reads the contents of a cell.
double *	getByPos (double x, double y, double phi)
	Reads the contents of a cell.
const double *	getByIndex (size_t x, size_t y, size_t phi) const
	Reads the contents of a cell.
double *	getByIndex (size_t x, size_t y, size_t phi)
	Reads the contents of a cell.
void	getAsMatrix (const double &phi, CMatrixTemplate< double > &outMat)
	Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".
double	getXMin () const
	Get info about the grid:
double	getXMax () const
double	getYMin () const
double	getYMax () const
double	getPhiMin () const
double	getPhiMax () const
double	getResolutionXY () const
double	getResolutionPhi () const
size_t	getSizeX () const
size_t	getSizeY () const
size_t	getSizePhi () const
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.
Protected Attributes
double	m_xMin
	The limits and resolution of the grid:
double	m_xMax
double	m_yMin
double	m_yMax
double	m_phiMin
double	m_phiMax
double	m_resolutionXY
double	m_resolutionPhi
size_t	m_sizeX
	The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi.
size_t	m_sizeY
size_t	m_sizePhi
size_t	m_sizeXY
int	m_idxLeftX
	The indexes of the "left" borders:
int	m_idxLeftY
int	m_idxLeftPhi
std::vector< double >	m_data
	The data:
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPosePDF
class	mrpt::utils::CStream
RTTI stuff
typedef CPosePDFGridPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPosePDFGrid
static mrpt::utils::TRuntimeClassId	classCPosePDFGrid
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPosePDFGridPtr	Create ()

Member Typedef Documentation

typedef CPosePDFGridPtr mrpt::poses::CPosePDFGrid::SmartPtr

A typedef for the associated smart pointer

Definition at line 53 of file CPosePDFGrid.h.

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 [inherited]

Enumerator:

is_3D_val

Definition at line 110 of file CPosePDF.h.

anonymous enum [inherited]

Enumerator:

is_PDF_val

Definition at line 112 of file CPosePDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPosePDFGrid::CPosePDFGrid	(	double	xMin = `-1.0f`,
		double	xMax = `1.0f`,
		double	yMin = `-1.0f`,
		double	yMax = `1.0f`,
		double	resolutionXY = `0.5f`,
		double	resolutionPhi = `DEG2RAD(180)`,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)

Constructor: Initializes a, uniform distribution over the whole given range.

virtual mrpt::poses::CPosePDFGrid::~CPosePDFGrid ( ) [virtual]

Destructor.

Member Function Documentation

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

Reimplemented from mrpt::poses::CPosePDF.

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

Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

Implements mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFGrid::changeCoordinatesReference ( const CPose3D & newReferenceBase ) [virtual]

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::utils::CProbabilityDensityFunction< CPose2D, 3 >.

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.

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

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

Implements mrpt::poses::CPosePDF.

static CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Create ( ) [static]

static mrpt::utils::CObject* mrpt::poses::CPosePDFGrid::CreateObject ( ) [static]

void mrpt::poses::CPosePDFGrid::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const

Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.

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.

void mrpt::poses::CPosePDFGrid::drawSingleSample ( CPose2D & outPart ) const

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGrid::duplicate ( ) const [virtual]

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

Implements mrpt::utils::CObject.

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, inherited]

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, inherited]

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::poses::CPose2DGridTemplate< double >::getAsMatrix	(	const double &	phi,
		CMatrixTemplate< double > &	outMat
	)		`[inline, inherited]`

Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

Definition at line 223 of file CPose2DGridTemplate.h.

References ASSERT_, MRPT_END, MRPT_START, mrpt::math::CMatrixTemplate< T >::setSize(), and Eigen::internal::y.

const double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)		const `[inline, inherited]`

Reads the contents of a cell.

Definition at line 203 of file CPose2DGridTemplate.h.

References ASSERT_.

double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)		`[inline, inherited]`

Reads the contents of a cell.

Definition at line 213 of file CPose2DGridTemplate.h.

References ASSERT_.

const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)		const `[inline, inherited]`

Reads the contents of a cell.

Definition at line 189 of file CPose2DGridTemplate.h.

double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)		`[inline, inherited]`

Reads the contents of a cell.

Definition at line 196 of file CPose2DGridTemplate.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.

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.

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::poses::CPosePDFGrid::getCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

See also:: getMean

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.

void mrpt::poses::CPosePDFGrid::getMean ( CPose2D & mean_pose ) const

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

See also:: getCovariance

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.

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const [inline, inherited]

Definition at line 242 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const [inline, inherited]

Definition at line 241 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const [inline, inherited]

Definition at line 244 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const [inline, inherited]

Definition at line 243 of file CPose2DGridTemplate.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const [inline, inherited]

Definition at line 247 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const [inline, inherited]

Definition at line 245 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const [inline, inherited]

Definition at line 246 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const [inline, inherited]

Definition at line 238 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const [inline, inherited]

Get info about the grid:

Definition at line 237 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const [inline, inherited]

Definition at line 240 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const [inline, inherited]

Definition at line 239 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t phi ) const [inline, inherited]

Returns coordinates from "indexes":

Definition at line 112 of file CPose2DGridTemplate.h.

References ASSERT_.

double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t x ) const [inline, inherited]

Returns coordinates from "indexes":

Definition at line 96 of file CPose2DGridTemplate.h.

References ASSERT_.

double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t y ) const [inline, inherited]

Returns coordinates from "indexes":

Definition at line 104 of file CPose2DGridTemplate.h.

References ASSERT_.

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

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

Implements mrpt::poses::CPosePDF.

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

Definition at line 111 of file CPosePDF.h.

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

Definition at line 113 of file CPosePDF.h.

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

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  ]

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

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

void mrpt::poses::CPosePDFGrid::normalize ( )

Normalizes the PDF, such as all cells sum the unity.

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double phi ) const [inline, inherited]

Returns "indexes" from coordinates:

Definition at line 87 of file CPose2DGridTemplate.h.

References ASSERT_, and mrpt::utils::round().

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.

void mrpt::poses::CPosePDFGrid::saveToTextFile ( const std::string & dataFile ) const [virtual]

Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

void mrpt::poses::CPose2DGridTemplate< double >::setSize	(	double	xMin,
		double	xMax,
		double	yMin,
		double	yMax,
		double	resolutionXY,
		double	resolutionPhi,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)		`[inline, inherited]`

Changes the limits and size of the grid, erasing previous contents:

Definition at line 146 of file CPose2DGridTemplate.h.

References ASSERT_, and mrpt::utils::round().

void mrpt::poses::CPosePDFGrid::uniformDistribution ( )

Assigns the same value to all the cells in the grid, so the sum 1.

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

See also:: CStream

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

size_t mrpt::poses::CPose2DGridTemplate< double >::x2idx ( double x ) const [inline, inherited]

Returns "indexes" from coordinates:

Definition at line 69 of file CPose2DGridTemplate.h.

References ASSERT_, and mrpt::utils::round().

size_t mrpt::poses::CPose2DGridTemplate< double >::y2idx ( double y ) const [inline, inherited]

Returns "indexes" from coordinates:

Definition at line 78 of file CPose2DGridTemplate.h.

References ASSERT_, and mrpt::utils::round().

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 62 of file CPosePDF.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid [static, protected]

Definition at line 53 of file CPosePDFGrid.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF [static, inherited]

Definition at line 62 of file CPosePDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFGrid::classCPosePDFGrid [static]

Definition at line 53 of file CPosePDFGrid.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGrid::classinfo [static]

Definition at line 53 of file CPosePDFGrid.h.

std::vector<double > mrpt::poses::CPose2DGridTemplate< double >::m_data [protected, inherited]

The data:

Definition at line 64 of file CPose2DGridTemplate.h.

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftPhi [protected, inherited]

Definition at line 60 of file CPose2DGridTemplate.h.

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftX [protected, inherited]

The indexes of the "left" borders:

Definition at line 60 of file CPose2DGridTemplate.h.

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftY [protected, inherited]

Definition at line 60 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMax [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMin [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionPhi [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionXY [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizePhi [protected, inherited]

Definition at line 56 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeX [protected, inherited]

The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi.

Definition at line 56 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeXY [protected, inherited]

Definition at line 56 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeY [protected, inherited]

Definition at line 56 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_xMax [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_xMin [protected, inherited]

The limits and resolution of the grid:

Definition at line 49 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_yMax [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::m_yMin [protected, inherited]

Definition at line 49 of file CPose2DGridTemplate.h.

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::state_length [static, inherited]

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 53 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation