Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi).

This class implements that PDF using a 3D grid.

See Also: CPose2D, CPosePDF, CPose2DGridTemplate

Definition at line 50 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:

Public Types
enum	{ is_3D_val = 0 }

enum	{ is_PDF_val = 1 }

typedef CPose2D	type_value
	The type of the state the PDF represents.

Public Member Functions
	CPosePDFGrid (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
	Constructor: Initializes a, uniform distribution over the whole given range.

virtual	~CPosePDFGrid ()
	Destructor.

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

void	normalize ()
	Normalizes the PDF, such as all cells sum the unity.

void	uniformDistribution ()
	Assigns the same value to all the cells in the grid, so the sum 1.

void	getMean (CPose2D &mean_pose) const
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

void	getCovarianceAndMean (CMatrixDouble33 &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

void	saveToTextFile (const std::string &dataFile) const
	Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

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

void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)
	Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

void	inverse (CPosePDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

void	drawSingleSample (CPose2D &outPart) const
	Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

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 1x3 vectors, where each row contains a (x,y,phi) datum.

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 >
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 (CPose2D &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, CPose2D &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, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

CPose2D	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 (CPose2D &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.

size_t	x2idx (double x) const
	Returns "indexes" from coordinates:

size_t	y2idx (double y) const
	Returns "indexes" from coordinates:

size_t	phi2idx (double phi) const
	Returns "indexes" from coordinates:

double	idx2x (size_t x) const
	Returns coordinates from "indexes":

double	idx2y (size_t y) const
	Returns coordinates from "indexes":

double	idx2phi (size_t phi) const
	Returns coordinates from "indexes":

void	setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)
	Changes the limits and size of the grid, erasing previous contents:

const double *	getByPos (double x, double y, double phi) const
	Reads the contents of a cell.

double *	getByPos (double x, double y, double phi)
	Reads the contents of a cell.

const double *	getByIndex (size_t x, size_t y, size_t phi) const
	Reads the contents of a cell.

double *	getByIndex (size_t x, size_t y, size_t phi)
	Reads the contents of a cell.

void	getAsMatrix (const double &phi, CMatrixTemplate< double > &outMat)
	Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

double	getXMin () const
	Get info about the grid:

double	getXMax () const

double	getYMin () const

double	getYMax () const

double	getPhiMin () const

double	getPhiMax () const

double	getResolutionXY () const

double	getResolutionPhi () const

size_t	getSizeX () const

size_t	getSizeY () const

size_t	getSizePhi () const

Static Public Member Functions
static void	jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)
	This static method computes the pose composition Jacobians, with these formulas:

static void	jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)

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	classCPosePDF

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

Protected Member Functions
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.

Protected Attributes
double	m_xMin
	The limits and resolution of the grid:

double	m_xMax

double	m_yMin

double	m_yMax

double	m_phiMin

double	m_phiMax

double	m_resolutionXY

double	m_resolutionPhi

size_t	m_sizeX
	The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi.

size_t	m_sizeY

size_t	m_sizePhi

size_t	m_sizeXY

int	m_idxLeftX
	The indexes of the "left" borders:

int	m_idxLeftY

int	m_idxLeftPhi

std::vector< double >	m_data
	The data:

RTTI stuff
typedef CPosePDFGridPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CPosePDFGrid

static mrpt::utils::TRuntimeClassId	classCPosePDFGrid

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 CPosePDFGridPtr	Create ()

Member Typedef Documentation

typedef CPosePDFGridPtr mrpt::poses::CPosePDFGrid::SmartPtr

A typedef for the associated smart pointer

Definition at line 53 of file CPosePDFGrid.h.

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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 110 of file CPosePDF.h.

anonymous enum

inherited

Enumerator
is_PDF_val

Definition at line 112 of file CPosePDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPosePDFGrid::CPosePDFGrid	(	double	xMin = `-1.0f`,
		double	xMax = `1.0f`,
		double	yMin = `-1.0f`,
		double	yMax = `1.0f`,
		double	resolutionXY = `0.5f`,
		double	resolutionPhi = `DEG2RAD(180)`,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)

Constructor: Initializes a, uniform distribution over the whole given range.

virtual mrpt::poses::CPosePDFGrid::~CPosePDFGrid ( )

virtual

Destructor.

Member Function Documentation

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

staticprotected

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

virtual

Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)

Implements mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFGrid::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.

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

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

virtual

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

Implements mrpt::poses::CPosePDF.

static CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Create ( )

static

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

static

void mrpt::poses::CPosePDFGrid::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const

Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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::CPosePDFGrid::drawSingleSample ( CPose2D & outPart ) const

Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGrid::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::CPosePDF::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 119 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 128 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix	(	const double &	phi,
		CMatrixTemplate< double > &	outMat
	)

inlineinherited

Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

Definition at line 223 of file CPose2DGridTemplate.h.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::CMatrixTemplate< T >::setSize().

const double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)		const

inlineinherited

Reads the contents of a cell.

Definition at line 203 of file CPose2DGridTemplate.h.

References ASSERT_.

double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex	(	size_t	x,
		size_t	y,
		size_t	phi
	)

inlineinherited

Reads the contents of a cell.

Definition at line 213 of file CPose2DGridTemplate.h.

References ASSERT_.

const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)		const

inlineinherited

Reads the contents of a cell.

Definition at line 189 of file CPose2DGridTemplate.h.

double * mrpt::poses::CPose2DGridTemplate< double >::getByPos	(	double	x,
		double	y,
		double	phi
	)

inlineinherited

Reads the contents of a cell.

Definition at line 196 of file CPose2DGridTemplate.h.

void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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< CPose2D , 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< CPose2D , 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.

References mrpt::math::cov(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean	(	CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		CPose2D &	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::CPosePDFGrid::getCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

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

See Also: getMean

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		CPose2D &	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.

References mrpt::math::UNINITIALIZED_MATRIX.

double mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References det().

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

References mrpt::math::cov(), and mrpt::math::UNINITIALIZED_MATRIX.

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D & mean_point ) const

pure virtualinherited

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

See Also: getCovarianceAndMean, getInformationMatrix

void mrpt::poses::CPosePDFGrid::getMean ( CPose2D & mean_pose ) const

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

See Also: getCovariance

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , 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.

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const

inlineinherited

Definition at line 242 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const

inlineinherited

Definition at line 241 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const

inlineinherited

Definition at line 244 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const

inlineinherited

Definition at line 243 of file CPose2DGridTemplate.h.

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const

inlineinherited

Definition at line 247 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const

inlineinherited

Definition at line 245 of file CPose2DGridTemplate.h.

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const

inlineinherited

Definition at line 246 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const

inlineinherited

Definition at line 238 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const

inlineinherited

Get info about the grid:

Definition at line 237 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const

inlineinherited

Definition at line 240 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const

inlineinherited

Definition at line 239 of file CPose2DGridTemplate.h.

double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t phi ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 112 of file CPose2DGridTemplate.h.

References ASSERT_.

double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t x ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 96 of file CPose2DGridTemplate.h.

References ASSERT_.

double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t y ) const

inlineinherited

Returns coordinates from "indexes":

Definition at line 104 of file CPose2DGridTemplate.h.

References ASSERT_.

void mrpt::poses::CPosePDFGrid::inverse ( CPosePDF & o ) const

virtual

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

Implements mrpt::poses::CPosePDF.

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

inlinestaticinherited

Definition at line 111 of file CPosePDF.h.

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

inlinestaticinherited

Definition at line 113 of file CPosePDF.h.

static void mrpt::poses::CPosePDF::jacobiansPoseComposition	(	const CPose2D &	x,
		const CPose2D &	u,
		CMatrixDouble33 &	df_dx,
		CMatrixDouble33 &	df_du
	)

staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1,  cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0,                              1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) ,  0  ]
[ sin(phi_x) ,  cos(phi_x) ,  0  ]
[         0  ,          0  ,  1  ]

static void mrpt::poses::CPosePDF::jacobiansPoseComposition	(	const CPosePDFGaussian &	x,
		const CPosePDFGaussian &	u,
		CMatrixDouble33 &	df_dx,
		CMatrixDouble33 &	df_du
	)

staticinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

void mrpt::poses::CPosePDFGrid::normalize ( )

Normalizes the PDF, such as all cells sum the unity.

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double phi ) const

inlineinherited

Returns "indexes" from coordinates:

Definition at line 87 of file CPose2DGridTemplate.h.

References ASSERT_, and mrpt::utils::round().

void mrpt::poses::CPosePDFGrid::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::poses::CPosePDFGrid::saveToTextFile ( const std::string & dataFile ) const

virtual

Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt".

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

void mrpt::poses::CPose2DGridTemplate< double >::setSize	(	double	xMin,
		double	xMax,
		double	yMin,
		double	yMax,
		double	resolutionXY,
		double	resolutionPhi,
		double	phiMin = `-M_PIf`,
		double	phiMax = `M_PIf`
	)

inlineinherited

Changes the limits and size of the grid, erasing previous contents:

Definition at line 146 of file CPose2DGridTemplate.h.

References ASSERT_, and mrpt::utils::round().

void mrpt::poses::CPosePDFGrid::uniformDistribution ( )

Assigns the same value to all the cells in the grid, so the sum 1.

void mrpt::poses::CPosePDFGrid::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