Detailed Description

A probability distribution of a 2D/3D point, represented as a set of random samples (particles).

See Also: CPointPDF

Definition at line 71 of file CPointPDFParticles.h.

#include <mrpt/poses/CPointPDFParticles.h>

Inheritance diagram for mrpt::poses::CPointPDFParticles:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

typedef CPoint3D	type_value
	The type of the state the PDF represents.

typedef TSimple3DPoint	CParticleDataContent
	This is the type inside the corresponding CParticleData class.

typedef CProbabilityParticle < TSimple3DPoint >	CParticleData
	Use this to refer to each element in the m_particles array.

typedef std::deque< CParticleData >	CParticleList
	Use this type to refer to the list of particles m_particles.

Public Member Functions
	CPointPDFParticles (size_t numParticles=1)
	Default constructor.

virtual	~CPointPDFParticles ()
	Destructor.

void	clear ()
	Clear all the particles (free memory)

void	setSize (size_t numberParticles, const CPoint3D &defaultValue=CPoint3D(0, 0, 0))
	Erase all the previous particles and change the number of particles, with a given initial value.

size_t	size () const
	Returns the number of particles.

void	getMean (CPoint3D &mean_point) const
	Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).

void	getCovarianceAndMean (CMatrixDouble33 &cov, CPoint3D &mean_point) const
	Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.

void	copyFrom (const CPointPDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations)

void	saveToTextFile (const std::string &file) const
	Save PDF's particles to a text file, where each line is: X Y Z LOG_W.

void	changeCoordinatesReference (const CPose3D &newReferenceBase)
	this = p (+) this.

double	computeKurtosis ()
	Compute the kurtosis of the distribution.

void	drawSingleSample (CPoint3D &outSample) const
	Draw a sample from the pdf.

void	bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)
	Bayesian fusion of two point 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!)

template<class OPENGL_SETOFOBJECTSPTR >
void	getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
	Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
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 (CPoint3D &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, CPoint3D &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, CPoint3D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

CPoint3D	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	getInformationMatrix (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
	Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

virtual void	drawSingleSample (CPoint3D &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.

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix.

void	clearParticles ()
	Free the memory of all the particles and reset the array "m_particles" to length zero.

void	writeParticlesToStream (utils::CStream &out) const
	Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

void	readParticlesFromStream (utils::CStream &in)
	Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

void	getWeights (vector_double &out_logWeights) const
	Returns a vector with the sequence of the logaritmic weights of all the samples.

const CParticleData *	getMostLikelyParticle () const
	Returns the particle with the highest weight.

Static Public Member Functions
static bool	is_3D ()

static bool	is_PDF ()

Public Attributes
CParticleList	m_particles
	The array of particles.

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	classCPointPDF

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
	IMPLEMENT_PARTICLE_FILTER_CAPABLE (TSimple3DPoint)

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	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
typedef CPointPDFParticlesPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CPointPDFParticles

static mrpt::utils::TRuntimeClassId	classCPointPDFParticles

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 CPointPDFParticlesPtr	Create ()

Member Typedef Documentation

typedef CProbabilityParticle<TSimple3DPoint > mrpt::bayes::CParticleFilterData< TSimple3DPoint >::CParticleData

inherited

Use this to refer to each element in the m_particles array.

Definition at line 61 of file CParticleFilterData.h.

typedef TSimple3DPoint mrpt::bayes::CParticleFilterData< TSimple3DPoint >::CParticleDataContent

inherited

This is the type inside the corresponding CParticleData class.

Definition at line 60 of file CParticleFilterData.h.

typedef std::deque<CParticleData> mrpt::bayes::CParticleFilterData< TSimple3DPoint >::CParticleList

inherited

Use this type to refer to the list of particles m_particles.

Definition at line 62 of file CParticleFilterData.h.

typedef CPointPDFParticlesPtr mrpt::poses::CPointPDFParticles::SmartPtr

A typedef for the associated smart pointer

Definition at line 74 of file CPointPDFParticles.h.

typedef CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::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 78 of file CPointPDF.h.

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 80 of file CPointPDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPointPDFParticles::CPointPDFParticles ( size_t numParticles = 1 )

Default constructor.

virtual mrpt::poses::CPointPDFParticles::~CPointPDFParticles ( )

virtual

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFParticles::_GetBaseClass ( )

staticprotected

void mrpt::poses::CPointPDFParticles::bayesianFusion	(	const CPointPDF &	p1,
		const CPointPDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)

virtual

Bayesian fusion of two point 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!)

Parameters

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.

Implements mrpt::poses::CPointPDF.

void mrpt::poses::CPointPDFParticles::changeCoordinatesReference ( const CPose3D & newReferenceBase )

virtual

this = p (+) this.

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. Both the mean value and the covariance matrix are updated correctly.

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

void mrpt::poses::CPointPDFParticles::clear ( void )

inline

Clear all the particles (free memory)

Definition at line 90 of file CPointPDFParticles.h.

References setSize().

void mrpt::bayes::CParticleFilterData< TSimple3DPoint >::clearParticles ( )

inlineinherited

Free the memory of all the particles and reset the array "m_particles" to length zero.

Definition at line 72 of file CParticleFilterData.h.

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

double mrpt::poses::CPointPDFParticles::computeKurtosis ( )

Compute the kurtosis of the distribution.

void mrpt::poses::CPointPDFParticles::copyFrom ( const CPointPDF & o )

virtual

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

Implements mrpt::poses::CPointPDF.

static CPointPDFParticlesPtr mrpt::poses::CPointPDFParticles::Create ( )

static

static mrpt::utils::CObject* mrpt::poses::CPointPDFParticles::CreateObject ( )

static

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const

inlinevirtualinherited

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.

Definition at line 139 of file CProbabilityDensityFunction.h.

void mrpt::poses::CPointPDFParticles::drawSingleSample ( CPoint3D & outSample ) const

Draw a sample from the pdf.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPointPDFParticles::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

inlineinherited

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.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPointPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 87 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject ( ) const

inlineinherited

Returns a 3D representation of this PDF.

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 96 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( CMatrixDouble & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 89 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also: getMean, getInformationMatrix

Definition at line 107 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean	(	CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPoint3D &	mean_point
	)		const

pure virtualinherited

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

See Also: getMean, getInformationMatrix

void mrpt::poses::CPointPDFParticles::getCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPoint3D &	mean_point
	)		const

Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.

See Also: getMean

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		CPoint3D &	mean_point
	)		const

inlineinherited

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

See Also: getMean, getInformationMatrix

Definition at line 69 of file CProbabilityDensityFunction.h.

double mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceEntropy ( ) const

inlineinherited

Compute the entropy of the estimated covariance matrix.

See Also: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 158 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & inf ) const

inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See Also: getMean, getCovarianceAndMean

Definition at line 120 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( CPoint3D & mean_point ) const

pure virtualinherited

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

See Also: getCovarianceAndMean, getInformationMatrix

void mrpt::poses::CPointPDFParticles::getMean ( CPoint3D & mean_point ) const

Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).

See Also: getCovariance

CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

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

See Also: getCovariance, getInformationMatrix

Definition at line 79 of file CProbabilityDensityFunction.h.

const CParticleData* mrpt::bayes::CParticleFilterData< TSimple3DPoint >::getMostLikelyParticle ( ) const

inlineinherited

Returns the particle with the highest weight.

Definition at line 140 of file CParticleFilterData.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFParticles::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

void mrpt::bayes::CParticleFilterData< TSimple3DPoint >::getWeights ( vector_double & out_logWeights ) const

inlineinherited

Returns a vector with the sequence of the logaritmic weights of all the samples.

Definition at line 127 of file CParticleFilterData.h.

mrpt::poses::CPointPDFParticles::IMPLEMENT_PARTICLE_FILTER_CAPABLE ( TSimple3DPoint )

protected

static bool mrpt::poses::CPointPDF::is_3D ( )

inlinestaticinherited

Definition at line 79 of file CPointPDF.h.

static bool mrpt::poses::CPointPDF::is_PDF ( )

inlinestaticinherited

Definition at line 81 of file CPointPDF.h.

void mrpt::poses::CPointPDFParticles::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

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

Implements mrpt::utils::CSerializable.

void mrpt::bayes::CParticleFilterData< TSimple3DPoint >::readParticlesFromStream ( utils::CStream & in )

inlineinherited

Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable).

See Also: writeParticlesToStream

Definition at line 107 of file CParticleFilterData.h.

void mrpt::poses::CPointPDFParticles::saveToTextFile ( const std::string & file ) const

virtual

Save PDF's particles to a text file, where each line is: X Y Z LOG_W.

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

void mrpt::poses::CPointPDFParticles::setSize	(	size_t	numberParticles,
		const CPoint3D &	defaultValue = `CPoint3D(0, 0, 0)`
	)

Erase all the previous particles and change the number of particles, with a given initial value.

size_t mrpt::poses::CPointPDFParticles::size ( ) const

inline

Returns the number of particles.

Definition at line 98 of file CPointPDFParticles.h.

void mrpt::bayes::CParticleFilterData< TSimple3DPoint >::writeParticlesToStream ( utils::CStream & out ) const

inlineinherited

Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable).

See Also: readParticlesFromStream

Definition at line 93 of file CParticleFilterData.h.

void mrpt::poses::CPointPDFParticles::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

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

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPointPDFParticles::_init_CPointPDFParticles

staticprotected

Definition at line 74 of file CPointPDFParticles.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDF::classCPointPDF

staticinherited

Definition at line 63 of file CPointPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDFParticles::classCPointPDFParticles

static

Definition at line 74 of file CPointPDFParticles.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFParticles::classinfo

static

Definition at line 74 of file CPointPDFParticles.h.

CParticleList mrpt::bayes::CParticleFilterData< TSimple3DPoint >::m_particles

inherited

The array of particles.

Definition at line 64 of file CParticleFilterData.h.

const size_t mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::state_length

staticinherited

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 Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation