Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ .

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 CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See also:: CPose3DPDF

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:

[legend]

List of all members.

Classes
struct	TGaussianMode
	The struct for each mode: More...
Public Types
typedef mrpt::aligned_containers < TGaussianMode >::vector_t	TModesList
typedef TModesList::const_iterator	const_iterator
typedef TModesList::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
	CPose3DPDFSOG (size_t nModes=1)
	Default constructor.
void	clear ()
	Clear all the gaussian modes.
void	resize (const size_t N)
	Set 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.
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
void	getMean (CPose3D &mean_pose) const
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
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	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0.
void	getMostLikelyMode (CPose3DPDFGaussian &outVal) const
	Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
void	copyFrom (const CPose3DPDF &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	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2)
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)
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,z,yaw,pitch,roll) datum.
void	inverse (CPose3DPDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void	appendFrom (const CPose3DPDFSOG &o)
	Append the Gaussian modes from "o" to the current set of modes of "this" density.
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 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 ()
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
TModesList	m_modes
	Access directly to this array for modify the modes as desired.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPose3DPDF
class	mrpt::utils::CStream
RTTI stuff
typedef CPose3DPDFSOGPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPose3DPDFSOG
static mrpt::utils::TRuntimeClassId	classCPose3DPDFSOG
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 CPose3DPDFSOGPtr	Create ()

Member Typedef Documentation

typedef TModesList::const_iterator mrpt::poses::CPose3DPDFSOG::const_iterator

Definition at line 76 of file CPose3DPDFSOG.h.

typedef TModesList::iterator mrpt::poses::CPose3DPDFSOG::iterator

Definition at line 77 of file CPose3DPDFSOG.h.

typedef CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::SmartPtr

A typedef for the associated smart pointer

Definition at line 56 of file CPose3DPDFSOG.h.

typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPose3DPDFSOG::TModesList

Definition at line 75 of file CPose3DPDFSOG.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::CPose3DPDFSOG::CPose3DPDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters:

nModes The initial size of CPose3DPDFSOG::m_modes

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG & o )

Append the Gaussian modes from "o" to the current set of modes of "this" density.

void mrpt::poses::CPose3DPDFSOG::assureSymmetry ( ) [protected]

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

void mrpt::poses::CPose3DPDFSOG::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)		`[virtual]`

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

iterator mrpt::poses::CPose3DPDFSOG::begin ( ) [inline]

Definition at line 101 of file CPose3DPDFSOG.h.

const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const [inline]

Definition at line 103 of file CPose3DPDFSOG.h.

void mrpt::poses::CPose3DPDFSOG::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 >.

void mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::copyFrom ( const CPose3DPDF & o ) [virtual]

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

Implements mrpt::poses::CPose3DPDF.

static CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::CreateObject ( ) [static]

void mrpt::poses::CPose3DPDFSOG::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,z,yaw,pitch,roll) 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::CPose3DPDFSOG::drawSingleSample ( CPose3D & outPart ) const

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPose3DPDFSOG::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::CPose3DPDFSOG::empty ( ) const [inline]

Return whether there is any Gaussian mode.

Definition at line 99 of file CPose3DPDFSOG.h.

iterator mrpt::poses::CPose3DPDFSOG::end ( ) [inline]

Definition at line 102 of file CPose3DPDFSOG.h.

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const [inline]

Definition at line 104 of file CPose3DPDFSOG.h.

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::CPose3DPDFSOG::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.

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::CPose3DPDFSOG::getMean ( CPose3D & mean_pose ) const

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

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::CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian & 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::CPose3DPDFSOG::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::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.

void mrpt::poses::CPose3DPDFSOG::normalizeWeights ( )

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

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::CPose3DPDFSOG::resize ( const size_t N )

Set the number of SOG modes.

void mrpt::poses::CPose3DPDFSOG::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 linear weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
x_mean (gaussian mean value)
yaw_mean (gaussian mean value, in radians)
pitch_mean (gaussian mean value, in radians)
roll_mean (gaussian mean value, in radians)
C11,C22,C33,C44,C55,C66 (Covariance elements)
C12,C13,C14,C15,C16 (Covariance elements)
C23,C24,C25,C25 (Covariance elements)
C34,C35,C36 (Covariance elements)
C45,C46 (Covariance elements)
C56 (Covariance elements)

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

size_t mrpt::poses::CPose3DPDFSOG::size ( ) const [inline]

Return the number of Gaussian modes.

Definition at line 98 of file CPose3DPDFSOG.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