00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPoseRandomSampler_H 00029 #define CPoseRandomSampler_H 00030 00031 #include <mrpt/poses/CPosePDF.h> 00032 #include <mrpt/poses/CPose3DPDF.h> 00033 #include <mrpt/math/CMatrixTemplateNumeric.h> 00034 00035 namespace mrpt 00036 { 00037 namespace poses 00038 { 00039 using namespace mrpt::math; 00040 00041 /** An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). 00042 * This class keeps an internal state which speeds up the sequential generation of samples. It can manage 00043 * any kind of pose PDF. 00044 * 00045 * Use with CPoseRandomSampler::setPosePDF, then CPoseRandomSampler::drawSample to draw values. 00046 * 00047 * Notice that you can pass a 2D or 3D pose PDF, then ask for a 2D or 3D sample. This class always returns 00048 * the kind of sample you ask it for, but will skip missing terms or fill out with zeroes as required. 00049 * Specifically, when sampling 3D poses from a 2D pose pdf, this class will be smart enought to draw only 00050 * the 3 required dimensions, avoiding a waste of time with the other 3 missing components. 00051 * 00052 * \ingroup poses_pdf_grp 00053 * \sa CPosePDF, CPose3DPDF 00054 */ 00055 class BASE_IMPEXP CPoseRandomSampler 00056 { 00057 protected: 00058 // Only ONE of these can be not-NULL at a time. 00059 CPosePDF* m_pdf2D; //!< A local copy of the PDF 00060 CPose3DPDF* m_pdf3D; //!< A local copy of the PDF 00061 00062 CMatrixDouble33 m_fastdraw_gauss_Z3; 00063 CMatrixDouble66 m_fastdraw_gauss_Z6; 00064 CPose2D m_fastdraw_gauss_M_2D; 00065 CPose3D m_fastdraw_gauss_M_3D; 00066 00067 void clear(); //!< Clear internal pdf 00068 00069 void do_sample_2D( CPose2D &p ) const; //!< Used internally: sample from m_pdf2D 00070 void do_sample_3D( CPose3D &p ) const; //!< Used internally: sample from m_pdf3D 00071 00072 public: 00073 /** Default constructor */ 00074 CPoseRandomSampler(); 00075 00076 /** Destructor */ 00077 ~CPoseRandomSampler(); 00078 00079 /** This method must be called to select the PDF from which to draw samples. 00080 * \sa drawSample 00081 */ 00082 void setPosePDF( const CPosePDF *pdf ); 00083 00084 /** This method must be called to select the PDF from which to draw samples. 00085 * \sa drawSample 00086 */ 00087 void setPosePDF( const CPosePDFPtr &pdf ) { setPosePDF(pdf.pointer()); } 00088 00089 /** This method must be called to select the PDF from which to draw samples. 00090 * \sa drawSample 00091 */ 00092 void setPosePDF( const CPosePDF &pdf ) { setPosePDF(&pdf); } 00093 00094 /** This method must be called to select the PDF from which to draw samples. 00095 * \sa drawSample 00096 */ 00097 void setPosePDF( const CPose3DPDF *pdf ); 00098 00099 /** This method must be called to select the PDF from which to draw samples. 00100 * \sa drawSample 00101 */ 00102 void setPosePDF( const CPose3DPDFPtr &pdf ) { setPosePDF(pdf.pointer()); } 00103 00104 /** This method must be called to select the PDF from which to draw samples. 00105 * \sa drawSample 00106 */ 00107 void setPosePDF( const CPose3DPDF &pdf ) { setPosePDF(&pdf); } 00108 00109 /** Generate a new sample from the selected PDF. 00110 * \return A reference to the same object passed as argument. 00111 * \sa setPosePDF 00112 */ 00113 CPose2D & drawSample( CPose2D &p ) const; 00114 00115 /** Generate a new sample from the selected PDF. 00116 * \return A reference to the same object passed as argument. 00117 * \sa setPosePDF 00118 */ 00119 CPose3D & drawSample( CPose3D &p ) const; 00120 00121 /** Return true if samples can be generated, which only requires a previous call to setPosePDF */ 00122 bool isPrepared() const; 00123 00124 /** If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be drawn around. \return A reference to the argument */ 00125 CPose2D &getSamplingMean2D(CPose2D &out_mean) const; 00126 00127 /** If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be drawn around. \return A reference to the argument */ 00128 CPose3D &getSamplingMean3D(CPose3D &out_mean) const; 00129 00130 /** Retrieves the 3x3 covariance of the original PDF in \f$ [ x ~ y ~ \phi ] \f$. */ 00131 void getOriginalPDFCov2D( CMatrixDouble33 &cov3x3 ) const; 00132 00133 /** Retrieves the 3x3 covariance of the original PDF in \f$ [ x ~ y ~ \phi ] \f$. */ 00134 inline void getOriginalPDFCov2D( CMatrixDouble &cov3x3 ) const { 00135 CMatrixDouble33 M; 00136 this->getOriginalPDFCov2D(M); 00137 cov3x3 = CMatrixDouble(M); 00138 } 00139 00140 /** Retrieves the 6x6 covariance of the original PDF in \f$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] \f$. */ 00141 void getOriginalPDFCov3D( CMatrixDouble66 &cov6x6 ) const; 00142 00143 /** Retrieves the 6x6 covariance of the original PDF in \f$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] \f$. */ 00144 inline void getOriginalPDFCov3D( CMatrixDouble &cov6x6 ) const { 00145 CMatrixDouble66 M; 00146 this->getOriginalPDFCov3D(M); 00147 cov6x6 = CMatrixDouble(M); 00148 } 00149 00150 }; // End of class def. 00151 } // End of namespace 00152 } // End of namespace 00153 00154 #endif
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