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.
#include <mrpt/poses/CPosePDF.h>
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 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 (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 | 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. | |
typedef TDATA mrpt::utils::CProbabilityDensityFunction::type_value [inherited] |
The type of the state the PDF represents.
Definition at line 54 of file CProbabilityDensityFunction.h.
| anonymous enum |
Definition at line 79 of file CPosePDF.h.
| anonymous enum |
Definition at line 81 of file CPosePDF.h.
| static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDF::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
| 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!)
| 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::CPosePDFSOG, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
| 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::CPosePDFSOG, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
| CObject* mrpt::utils::CObject::clone | ( | ) | const [inline, inherited] |
Cloning interface for smart pointers.
Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.
| 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::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFGrid.
| 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.
Reimplemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
Definition at line 126 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction::drawSingleSample().
| 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] |
| void mrpt::poses::CPosePDF::getAs3DObject | ( | OPENGL_SETOFOBJECTSPTR & | out_obj | ) | const [inline] |
Returns a 3D representation of this PDF.
Definition at line 88 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
| OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject | ( | ) | const [inline] |
Returns a 3D representation of this PDF.
Definition at line 97 of file CPosePDF.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)
Definition at line 89 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean().
| 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)
Definition at line 98 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean().
| 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)
Definition at line 107 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), and mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean().
| 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.
| 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.
Definition at line 69 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean().
| double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy | ( | ) | const [inline, inherited] |
Compute the entropy of the estimated covariance matrix.
Definition at line 145 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction::getCovariance(), and det().
| 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).
| TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal | ( | ) | const [inline, inherited] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 79 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction::getMean().
| 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::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
| 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::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFGrid.
| static bool mrpt::poses::CPosePDF::is_3D | ( | ) | [inline, static] |
Definition at line 80 of file CPosePDF.h.
| static bool mrpt::poses::CPosePDF::is_PDF | ( | ) | [inline, static] |
Definition at line 82 of file CPosePDF.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.
| 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. |
| std::exception | On any error, see CStream::ReadBuffer |
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::CPosePDFSOG, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
| 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.
| 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. |
| std::exception | On any error, see CStream::WriteBuffer |
Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.
friend class mrpt::utils::CStream [friend] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 60 of file CPosePDF.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited] |
const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF [static] |
Definition at line 60 of file CPosePDF.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.
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