Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D point $p(\mathbf{x}) = [x ~ y ~ z ]^t$ .

This class implements that PDF as the following multi-modal Gaussian distribution:

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPointPDFSOG::m_modes

See mrpt::poses::CPointPDF for more details.

See also:: CPointPDF, CPosePDF,

#include <mrpt/poses/CPointPDFSOG.h>

Inheritance diagram for mrpt::poses::CPointPDFSOG:

[legend]

List of all members.

Classes
struct	TGaussianMode
	The struct for each mode: More...
Public Types
typedef std::deque< TGaussianMode >	CListGaussianModes
typedef std::deque < TGaussianMode > ::const_iterator	const_iterator
typedef std::deque < TGaussianMode >::iterator	iterator
enum	{ is_3D_val = 1 }
enum	{ is_PDF_val = 1 }
typedef TDATA	type_value
	The type of the state the PDF represents.
Public Member Functions
	CPointPDFSOG (size_t nModes=1)
	Default constructor.
void	clear ()
	Clear all the gaussian modes.
const TGaussianMode &	operator[] (size_t i) const
	Access to individual beacons.
TGaussianMode &	operator[] (size_t i)
	Access to individual beacons.
const TGaussianMode &	get (size_t i) const
	Access to individual beacons.
TGaussianMode &	get (size_t i)
	Access to individual beacons.
void	push_back (const TGaussianMode &m)
	Inserts a copy of the given mode into the SOG.
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
iterator	erase (iterator i)
void	resize (const size_t N)
	Resize the number of SOG modes.
size_t	size () const
	Return the number of Gaussian modes.
bool	empty () const
	Return whether there is any Gaussian mode.
void	getMean (CPoint3D &mean_point) const
	Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
void	getCovarianceAndMean (CMatrixDouble33 &cov, CPoint3D &mean_point) const
	Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.
void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0.
void	getMostLikelyMode (CPointPDFGaussian &outVal) const
	Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
double	ESS () const
	Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).
void	copyFrom (const CPointPDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
void	saveToTextFile (const std::string &file) const
	Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
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	drawSingleSample (CPoint3D &outSample) const
	Draw a sample from the pdf.
void	bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=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!)
void	evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, CMatrixD &outMatrix, bool sumOverAllZs=false)
	Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
double	evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const
	Evaluates the PDF at a given point.
template<class OPENGL_SETOFOBJECTSPTR >
void	getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
	Returns a 3D representation of this PDF.
template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
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 (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	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.
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
void	assureSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
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
CListGaussianModes	m_modes
	The list of SOG modes.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPointPDF
class	mrpt::utils::CStream
RTTI stuff
typedef CPointPDFSOGPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPointPDFSOG
static mrpt::utils::TRuntimeClassId	classCPointPDFSOG
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 CPointPDFSOGPtr	Create ()

Member Typedef Documentation

typedef std::deque<TGaussianMode> mrpt::poses::CPointPDFSOG::CListGaussianModes

Definition at line 75 of file CPointPDFSOG.h.

typedef std::deque<TGaussianMode>::const_iterator mrpt::poses::CPointPDFSOG::const_iterator

Definition at line 76 of file CPointPDFSOG.h.

typedef std::deque<TGaussianMode>::iterator mrpt::poses::CPointPDFSOG::iterator

Definition at line 77 of file CPointPDFSOG.h.

typedef CPointPDFSOGPtr mrpt::poses::CPointPDFSOG::SmartPtr

A typedef for the associated smart pointer

Definition at line 57 of file CPointPDFSOG.h.

typedef TDATA mrpt::utils::CProbabilityDensityFunction::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 78 of file CPointPDF.h.

anonymous enum [inherited]

Enumerator:

is_PDF_val

Definition at line 80 of file CPointPDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPointPDFSOG::CPointPDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters:

nModes The initial size of CPointPDFSOG::m_modes

Member Function Documentation

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

Reimplemented from mrpt::poses::CPointPDF.

void mrpt::poses::CPointPDFSOG::assureSymmetry ( ) [protected]

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

void mrpt::poses::CPointPDFSOG::bayesianFusion	(	const CPointPDF &	p1,
		const CPointPDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)		`[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.

Implements mrpt::poses::CPointPDF.

iterator mrpt::poses::CPointPDFSOG::begin ( ) [inline]

Definition at line 122 of file CPointPDFSOG.h.

const_iterator mrpt::poses::CPointPDFSOG::begin ( ) const [inline]

Definition at line 124 of file CPointPDFSOG.h.

void mrpt::poses::CPointPDFSOG::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< CPoint3D, 3 >.

void mrpt::poses::CPointPDFSOG::clear ( )

Clear all the gaussian modes.

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::CPointPDFSOG::copyFrom ( const CPointPDF & o ) [virtual]

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

Implements mrpt::poses::CPointPDF.

static CPointPDFSOGPtr mrpt::poses::CPointPDFSOG::Create ( ) [static]

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

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.

void mrpt::poses::CPointPDFSOG::drawSingleSample ( CPoint3D & outSample ) const

Draw a sample from the pdf.

virtual mrpt::utils::CObject* mrpt::poses::CPointPDFSOG::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.

bool mrpt::poses::CPointPDFSOG::empty ( ) const [inline]

Return whether there is any Gaussian mode.

Definition at line 131 of file CPointPDFSOG.h.

iterator mrpt::poses::CPointPDFSOG::end ( ) [inline]

Definition at line 123 of file CPointPDFSOG.h.

const_iterator mrpt::poses::CPointPDFSOG::end ( ) const [inline]

Definition at line 125 of file CPointPDFSOG.h.

iterator mrpt::poses::CPointPDFSOG::erase ( iterator i ) [inline]

Definition at line 127 of file CPointPDFSOG.h.

double mrpt::poses::CPointPDFSOG::ESS ( ) const

Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).

double mrpt::poses::CPointPDFSOG::evaluatePDF	(	const CPoint3D &	x,
		bool	sumOverAllZs
	)		const

Evaluates the PDF at a given point.

void mrpt::poses::CPointPDFSOG::evaluatePDFInArea	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolutionXY,
		float	z,
		CMatrixD &	outMatrix,
		bool	sumOverAllZs = `false`
	)

Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

const TGaussianMode& mrpt::poses::CPointPDFSOG::get ( size_t i ) const [inline]

Access to individual beacons.

Definition at line 107 of file CPointPDFSOG.h.

References ASSERT_.

TGaussianMode& mrpt::poses::CPointPDFSOG::get ( size_t i ) [inline]

Access to individual beacons.

Definition at line 112 of file CPointPDFSOG.h.

References ASSERT_.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPointPDF::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 87 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::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 96 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

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::poses::CPointPDFSOG::getCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPoint3D &	mean_point
	)		const

Returns an estimate of the point covariance matrix (3x3 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

void mrpt::poses::CPointPDFSOG::getMean ( CPoint3D & mean_point ) const

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

See also:: getCovariance

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.

void mrpt::poses::CPointPDFSOG::getMostLikelyMode ( CPointPDFGaussian & outVal ) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

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

Definition at line 79 of file CPointPDF.h.

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

Definition at line 81 of file CPointPDF.h.

void mrpt::poses::CPointPDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

const TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] ( size_t i ) const [inline]

Access to individual beacons.

Definition at line 96 of file CPointPDFSOG.h.

References ASSERT_.

TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] ( size_t i ) [inline]

Access to individual beacons.

Definition at line 101 of file CPointPDFSOG.h.

References ASSERT_.

void mrpt::poses::CPointPDFSOG::push_back ( const TGaussianMode & m ) [inline]

Inserts a copy of the given mode into the SOG.

Definition at line 118 of file CPointPDFSOG.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.

void mrpt::poses::CPointPDFSOG::resize ( const size_t N )

Resize the number of SOG modes.

void mrpt::poses::CPointPDFSOG::saveToTextFile ( const std::string & file ) const [virtual]

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

w (The weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
x_mean (gaussian mean value)
C11 (Covariance elements)
C22 (Covariance elements)
C33 (Covariance elements)
C12 (Covariance elements)
C13 (Covariance elements)
C23 (Covariance elements)

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

size_t mrpt::poses::CPointPDFSOG::size ( ) const [inline]

Return the number of Gaussian modes.

Definition at line 130 of file CPointPDFSOG.h.

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