Detailed Description

A generic template for probability density distributions (PDFs).

This template is used as base for many classes in mrpt::poses Any derived class must implement getMean() and a getCovarianceAndMean(). Other methods such as getMean() or getCovariance() are implemented here for convenience.

See also:: mprt::poses::CPosePDF, mprt::poses::CPose3DPDF, mprt::poses::CPointPDF

#include <mrpt/utils/CProbabilityDensityFunction.h>

Inheritance diagram for mrpt::utils::CProbabilityDensityFunction:

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List of all members.

Public Types
typedef TDATA	type_value
	The type of the state the PDF represents.
Public Member Functions
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 Attributes
static const size_t	state_length = STATE_LEN
	The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Member Typedef Documentation

typedef TDATA mrpt::utils::CProbabilityDensityFunction::type_value

The type of the state the PDF represents.

Definition at line 54 of file CProbabilityDensityFunction.h.

Member Function Documentation

virtual void mrpt::utils::CProbabilityDensityFunction::changeCoordinatesReference ( const mrpt::poses::CPose3D & newReferenceBase ) [pure 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.

Implemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFParticles, mrpt::slam::CBeacon, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPointPDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoint2DPDFGaussian, and mrpt::poses::CPointPDFGaussian.

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

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::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DPDFGaussianInf, and mrpt::poses::CPosePDFGrid.

Definition at line 126 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample ( TDATA & outPart ) const [pure virtual]

Draws a single sample from the distribution.

Referenced by mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::drawManySamples().

void mrpt::utils::CProbabilityDensityFunction::getCovariance ( CMatrixDouble & cov ) const [inline]

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]

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]

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.

Referenced by mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceEntropy().

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

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

See also:: getMean

Referenced by mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceDynAndMean(), and mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovariance().

void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		TDATA &	mean_point
	)		const `[inline]`

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.

Referenced by mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovariance().

double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy ( ) const [inline]

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]

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

See also:: getCovarianceAndMean

Referenced by mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getMeanVal().

TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal ( ) const [inline]

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

See also:: getCovariance

Definition at line 79 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction::saveToTextFile ( const std::string & file ) const [pure virtual]

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::CPointPDFSOG, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFParticles, mrpt::slam::CBeacon, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoint2DPDFGaussian, and mrpt::poses::CPointPDFGaussian.

Member Data Documentation

const size_t mrpt::utils::CProbabilityDensityFunction::state_length = STATE_LEN [static]

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 Attributes

Member Typedef Documentation

Member Function Documentation

Member Data Documentation