mrpt::poses::CPoint2DPDF Class Reference

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Detailed Description

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

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.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

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

See also:

CPoint2D, CPointPDF

#include <mrpt/poses/CPoint2DPDF.h>

Inheritance diagram for mrpt::poses::CPoint2DPDF:

List of all members.

Public Types
enum	{ is_3D_val = 0 }
enum	{ is_PDF_val = 1 }
typedef TDATA	type_value
	The type of the state the PDF represents.
Public Member Functions
virtual void	copyFrom (const CPoint2DPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
virtual void	bayesianFusion (const CPoint2DPDF &p1, const CPoint2DPDF &p2, const double &minMahalanobisDistToDrop=0)=0
	Bayesian fusion of two point 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 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 (TDATA &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, TDATA &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, TDATA &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
TDATA	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	saveToTextFile (const std::string &file) const =0
	Save PDF's particles to a text file.
virtual void	drawSingleSample (TDATA &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 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	classCPoint2DPDF
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.

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Member Typedef Documentation

typedef TDATA mrpt::utils::CProbabilityDensityFunction::type_value [inherited]

The type of the state the PDF represents.

Definition at line 54 of file CProbabilityDensityFunction.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

is_3D_val

Definition at line 72 of file CPoint2DPDF.h.

anonymous enum

Enumerator:

is_PDF_val

Definition at line 74 of file CPoint2DPDF.h.

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Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2DPDF::_GetBaseClass

(

)

[static, protected]

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPoint2DPDFGaussian.

virtual void mrpt::poses::CPoint2DPDF::bayesianFusion	(	const CPoint2DPDF &	p1,
		const CPoint2DPDF &	p2,
		const double &	minMahalanobisDistToDrop = 0
	)		[pure virtual]

Bayesian fusion of two point 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::CPoint2DPDFGaussian.

virtual void mrpt::utils::CProbabilityDensityFunction::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::CPoint2DPDFGaussian.

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::CPoint2DPDF::copyFrom

(

const CPoint2DPDF &

o

)

[pure virtual]

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

Implemented in mrpt::poses::CPoint2DPDFGaussian.

virtual void mrpt::utils::CProbabilityDensityFunction::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 126 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample

(

TDATA &

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.

Implemented in mrpt::graphs::CNetworkOfPoses3DInf, mrpt::graphs::CNetworkOfPoses2DInf, mrpt::graphs::CNetworkOfPoses3DCov, mrpt::graphs::CNetworkOfPoses2DCov, mrpt::graphs::CNetworkOfPoses3D, mrpt::graphs::CNetworkOfPoses2D, mrpt::utils::TStereoCamera, mrpt::reactivenav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::slam::CObservation3DRangeScan, mrpt::hmtslam::THypothesisIDSet, mrpt::slam::COccupancyGridMap2D, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::gui::CDisplayWindow3D, mrpt::slam::CHeightGridMap2D, mrpt::slam::CObservationIMU, mrpt::slam::CMultiMetricMapPDF, mrpt::slam::CLandmarksMap, mrpt::vision::CFeature, mrpt::slam::CMultiMetricMap, mrpt::slam::CRawlog, mrpt::slam::CSensoryFrame, mrpt::poses::CPose3D, mrpt::slam::CObservation2DRangeScan, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DInterpolator, mrpt::opengl::COpenGLViewport, mrpt::slam::CBeaconMap, mrpt::slam::CReflectivityGridMap2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::math::CMatrixD, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CPlanarLaserScan, mrpt::slam::CWirelessPowerGridMap2D, mrpt::slam::CObservationStereoImages, mrpt::math::CMatrix, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CHMHMapNode, mrpt::slam::CBeacon, mrpt::opengl::CText3D, mrpt::slam::CObservationStereoImagesFeatures, mrpt::opengl::CEllipsoid, mrpt::slam::CLandmark, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::gui::CDisplayWindowPlots, mrpt::slam::CGasConcentrationGridMap2D, mrpt::slam::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::opengl::CText, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CPolyhedron, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::opengl::CAngularObservationMesh, mrpt::slam::CColouredPointsMap, mrpt::slam::CIncrementalMapPartitioner, mrpt::slam::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose2D, mrpt::slam::CSimplePointsMap, mrpt::opengl::CDisk, mrpt::opengl::CSetOfObjects, mrpt::poses::CPose3DPDFSOG, mrpt::utils::TCamera, mrpt::slam::CActionRobotMovement2D, mrpt::slam::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::slam::CSimpleMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CSphere, mrpt::slam::CWeightedPointsMap, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGrid, mrpt::utils::CStringList, mrpt::slam::CObservationOdometry, mrpt::opengl::CBox, mrpt::opengl::CSetOfTexturedTriangles, mrpt::utils::CMemoryChunk, mrpt::slam::CActionCollection, mrpt::slam::CObservationGPS, mrpt::slam::CObservationRange, mrpt::reactivenav::CLogFileRecord, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::gui::CDisplayWindow, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationWirelessPower, mrpt::opengl::C3DSScene, mrpt::slam::CObservationVisualLandmarks, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::utils::CSimpleDatabaseTable, mrpt::slam::CActionRobotMovement3D, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationComment, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::slam::CObservationReflectivity, mrpt::opengl::CGeneralizedCylinder, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::poses::TSimple3DPoint, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::utils::CTypeSelector, and mrpt::reactivenav::CLogFileRecord_VFF.

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.

void mrpt::utils::CProbabilityDensityFunction::getCovariance

(

CMatrixDouble &

cov

)

const [inline, inherited]

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

See also:

getMean, getCovarianceAndMean

Definition at line 89 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction::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

Definition at line 98 of file CProbabilityDensityFunction.h.

CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction::getCovariance

(

)

const [inline, inherited]

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

See also:

getMean

Definition at line 107 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean	(	CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		TDATA &	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

void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		TDATA &	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

Definition at line 69 of file CProbabilityDensityFunction.h.

double mrpt::utils::CProbabilityDensityFunction::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 145 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction::getMean

(

TDATA &

mean_point

)

const [pure virtual, inherited]

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

See also:

getCovarianceAndMean

TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal

(

)

const [inline, inherited]

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

See also:

getCovariance

Definition at line 79 of file CProbabilityDensityFunction.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2DPDF::GetRuntimeClass

(

)

const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPoint2DPDFGaussian.

static bool mrpt::poses::CPoint2DPDF::is_3D

(

)

[inline, static]

Definition at line 73 of file CPoint2DPDF.h.

static bool mrpt::poses::CPoint2DPDF::is_PDF

(

)

[inline, static]

Definition at line 75 of file CPoint2DPDF.h.

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

virtual void mrpt::utils::CProbabilityDensityFunction::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::CPoint2DPDFGaussian.

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

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Friends And Related Function Documentation

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

Reimplemented from mrpt::utils::CSerializable.

Definition at line 58 of file CPoint2DPDF.h.

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Member Data Documentation

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

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPoint2DPDF::classCPoint2DPDF [static]

Definition at line 58 of file CPoint2DPDF.h.

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

Definition at line 56 of file CSerializable.h.

const size_t mrpt::utils::CProbabilityDensityFunction::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.