Detailed Description

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

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.

Uncertainty of pose composition operations ( $y = x \oplus u$ ) is implemented in the method "CPose3DPDFGaussian::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also:: CPose3D, CPose3DPDF, CPose3DPDFParticles

#include <mrpt/poses/CPose3DPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussian:

[legend]

List of all members.

Public Types
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
	CPose3DPDFGaussian ()
	Default constructor.
	CPose3DPDFGaussian (const CPose3D &init_Mean)
	Constructor.
	CPose3DPDFGaussian (TConstructorFlags_Poses constructor_dummy_param)
	Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.
	CPose3DPDFGaussian (const CPose3D &init_Mean, const CMatrixDouble66 &init_Cov)
	Constructor.
	CPose3DPDFGaussian (const CPosePDFGaussian &o)
	Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).
	CPose3DPDFGaussian (const CPose3DQuatPDFGaussian &o)
	Constructor from a 6D pose PDF described as a Quaternion.
const CPose3D &	getPoseMean () const
CPose3D &	getPoseMean ()
void	getMean (CPose3D &mean_pose) const
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
void	getCovarianceAndMean (CMatrixDouble66 &cov, CPose3D &mean_point) const
	Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
void	copyFrom (const CPose3DPDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
void	copyFrom (const CPosePDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
void	copyFrom (const CPose3DQuatPDFGaussian &o)
	Copy from a 6D pose PDF described as a Quaternion.
void	saveToTextFile (const std::string &file) const
	Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.
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 (CPose3D &outPart) const
	Draws a single sample from the distribution.
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 1x6 vectors, where each row contains a (x,y,phi) datum.
void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2)
	Bayesian fusion of two points gauss.
void	inverse (CPose3DPDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
CPose3DPDFGaussian	operator- () const
	Unary - operator, returns the PDF of the inverse pose.
void	operator+= (const CPose3D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
void	operator+= (const CPose3DPDFGaussian &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
void	operator-= (const CPose3DPDFGaussian &Ap)
	Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
double	evaluatePDF (const CPose3D &x) const
	Evaluates the PDF at a given point.
double	evaluateNormalizedPDF (const CPose3D &x) const
	Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
double	mahalanobisDistanceTo (const CPose3DPDFGaussian &theOther)
	Computes the Mahalanobis distance between the centers of two Gaussians.
void	getCovSubmatrix2D (CMatrixDouble &out_cov) const
	Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.
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.
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.
double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix.
Static Public Member Functions
static void	jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, CMatrixDouble66 &df_dx, CMatrixDouble66 &df_du)
	This static method computes the pose composition Jacobians.
static CPose3DPDF *	createFrom2D (const CPosePDF &o)
	This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.
static bool	is_3D ()
static bool	is_PDF ()
Public Attributes
CPose3D	mean
	The mean value.
CMatrixDouble66	cov
	The 6x6 covariance matrix.
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.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPose3DPDF
class	mrpt::utils::CStream
RTTI stuff
typedef CPose3DPDFGaussianPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPose3DPDFGaussian
static mrpt::utils::TRuntimeClassId	classCPose3DPDFGaussian
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 CPose3DPDFGaussianPtr	Create ()

Member Typedef Documentation

typedef CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::SmartPtr

A typedef for the associated smart pointer

Definition at line 59 of file CPose3DPDFGaussian.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 85 of file CPose3DPDF.h.

anonymous enum [inherited]

Enumerator:

is_PDF_val

Definition at line 87 of file CPose3DPDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( )

Default constructor.

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3D & init_Mean ) [explicit]

Constructor.

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( TConstructorFlags_Poses constructor_dummy_param )

Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian	(	const CPose3D &	init_Mean,
		const CMatrixDouble66 &	init_Cov
	)

Constructor.

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPosePDFGaussian & o ) [explicit]

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).

mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian ( const CPose3DQuatPDFGaussian & o ) [explicit]

Constructor from a 6D pose PDF described as a Quaternion.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFGaussian::assureSymmetry ( ) [protected]

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

void mrpt::poses::CPose3DPDFGaussian::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)		`[virtual]`

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

(x1,S1): Mean and variance of the p1 distribution.
(x2,S2): Mean and variance of the p2 distribution.
(x,S): Mean and variance of the resulting distribution.

S = (S1^-1 + S2^-1)^-1; x = S * ( S1^-1*x1 + S2^-1*x2 );

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFGaussian::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< CPose3D, 6 >.

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::CPose3DPDFGaussian::copyFrom ( const CPose3DPDF & o ) [virtual]

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

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFGaussian::copyFrom ( const CPosePDF & o )

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

void mrpt::poses::CPose3DPDFGaussian::copyFrom ( const CPose3DQuatPDFGaussian & o )

Copy from a 6D pose PDF described as a Quaternion.

static CPose3DPDFGaussianPtr mrpt::poses::CPose3DPDFGaussian::Create ( ) [static]

static CPose3DPDF* mrpt::poses::CPose3DPDF::createFrom2D ( const CPosePDF & o ) [static, inherited]

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.

This object must be deleted by the user when not required anymore.

See also:: copyFrom

static mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::CreateObject ( ) [static]

void mrpt::poses::CPose3DPDFGaussian::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const `[virtual]`

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

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

Draws a single sample from the distribution.

void mrpt::poses::CPose3DPDFGaussian::drawSingleSample ( CPose3D & outPart ) const

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFGaussian::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.

double mrpt::poses::CPose3DPDFGaussian::evaluateNormalizedPDF ( const CPose3D & x ) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

double mrpt::poses::CPose3DPDFGaussian::evaluatePDF ( const CPose3D & x ) const

Evaluates the PDF at a given point.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::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 94 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 103 of file CPose3DPDF.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::CPose3DPDFGaussian::getCovarianceAndMean	(	CMatrixDouble66 &	cov,
		CPose3D &	mean_point
	)		const

Returns an estimate of the pose covariance matrix (6x6 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.

void mrpt::poses::CPose3DPDFGaussian::getCovSubmatrix2D ( CMatrixDouble & out_cov ) const

Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.

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::CPose3DPDFGaussian::getMean ( CPose3D & mean_pose ) const

Returns an estimate of the pose, (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.

const CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( ) const [inline]

Definition at line 98 of file CPose3DPDFGaussian.h.

References mean().

CPose3D& mrpt::poses::CPose3DPDFGaussian::getPoseMean ( ) [inline]

Definition at line 99 of file CPose3DPDFGaussian.h.

References mean().

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussian::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFGaussian::inverse ( CPose3DPDF & o ) const [virtual]

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPose3DPDF.

static bool mrpt::poses::CPose3DPDF::is_3D ( ) [inline, static, inherited]

Definition at line 86 of file CPose3DPDF.h.

static bool mrpt::poses::CPose3DPDF::is_PDF ( ) [inline, static, inherited]

Definition at line 88 of file CPose3DPDF.h.

static void mrpt::poses::CPose3DPDFGaussian::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		CMatrixDouble66 &	df_dx,
		CMatrixDouble66 &	df_du
	)		`[static]`

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

      X(6D)       U(6D)
        |           |
        v           v
      X(7D)       U(7D)
        |           |
        +--- (+) ---+
              |
              v
            RES(7D)
              |
              v
            RES(6D)

Referenced by mrpt::math::jacobians::jacobs_6D_pose_comp().

double mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo ( const CPose3DPDFGaussian & theOther )

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

void mrpt::poses::CPose3DPDFGaussian::operator+= ( const CPose3D & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

void mrpt::poses::CPose3DPDFGaussian::operator+= ( const CPose3DPDFGaussian & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

CPose3DPDFGaussian mrpt::poses::CPose3DPDFGaussian::operator- ( ) const [inline]

Unary - operator, returns the PDF of the inverse pose.

Definition at line 157 of file CPose3DPDFGaussian.h.

References mrpt::poses::UNINITIALIZED_POSE.

void mrpt::poses::CPose3DPDFGaussian::operator-= ( const CPose3DPDFGaussian & Ap )

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).

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::CPose3DPDFGaussian::saveToTextFile ( const std::string & file ) const [virtual]

Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

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