Declares a class that represents a Probability Density function (PDF) of a 2D pose .
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPosePDFSOG::m_modes
See mrpt::poses::CPosePDF for more details.
Definition at line 36 of file CPosePDFSOG.h.
#include <mrpt/poses/CPosePDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode: More... | |
Public Types | |
typedef mrpt::aligned_containers< TGaussianMode >::vector_t | CListGaussianModes |
typedef CListGaussianModes::const_iterator | const_iterator |
typedef CListGaussianModes::iterator | iterator |
enum | { is_3D_val = 0 } |
enum | { is_PDF_val = 1 } |
typedef CPose2D | type_value |
The type of the state the PDF represents. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CPosePDFSOG (size_t nModes=1) | |
Default constructor. More... | |
size_t | size () const |
Return the number of Gaussian modes. More... | |
bool | empty () const |
Return whether there is any Gaussian mode. More... | |
void | clear () |
Clear the list of modes. More... | |
const TGaussianMode & | operator[] (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | operator[] (size_t i) |
Access to individual beacons. More... | |
const TGaussianMode & | get (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | get (size_t i) |
Access to individual beacons. More... | |
void | push_back (const TGaussianMode &m) |
Inserts a copy of the given mode into the SOG. More... | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
iterator | erase (iterator i) |
void | resize (const size_t N) |
Resize the number of SOG modes. More... | |
void | mergeModes (double max_KLd=0.5, bool verbose=false) |
Merge very close modes so the overall number of modes is reduced while preserving the total distribution. More... | |
void | getMean (CPose2D &mean_pose) const |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. More... | |
void | getMostLikelyCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const |
For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean. More... | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. More... | |
void | copyFrom (const CPosePDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
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: More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) |
this = p (+) this. More... | |
void | rotateAllCovariances (const double &ang) |
Rotate all the covariance matrixes by replacing them by ![]() ![]() | |
void | drawSingleSample (CPose2D &outPart) const |
Draws a single sample from the distribution. More... | |
void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &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. More... | |
void | inverse (CPosePDF &o) const |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | operator+= (const mrpt::poses::CPose2D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More... | |
double | evaluatePDF (const mrpt::poses::CPose2D &x, bool sumOverAllPhis=false) const |
Evaluates the PDF at a given point. More... | |
double | evaluateNormalizedPDF (const mrpt::poses::CPose2D &x) const |
Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1]. More... | |
void | evaluatePDFInArea (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, mrpt::math::CMatrixD &outMatrix, bool sumOverAllPhis=false) |
Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value). More... | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object) More... | |
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) More... | |
template<class OPENGL_SETOFOBJECTSPTR > | |
OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
Returns a 3D representation of this PDF. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
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). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
virtual void | getMean (CPose2D &mean_point) const =0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
virtual void | getCovarianceAndMean (mrpt::math::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. More... | |
void | getCovarianceDynAndMean (mrpt::math::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. More... | |
CPose2D | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
void | getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
virtual void | getInformationMatrix (mrpt::math::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. More... | |
virtual void | drawSingleSample (CPose2D &outPart) const =0 |
Draws a single sample from the distribution. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static void | jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true) |
This static method computes the pose composition Jacobians, with these formulas: More... | |
static void | jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::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). More... | |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCPosePDF |
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!) More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
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. More... | |
Protected Attributes | |
CListGaussianModes | m_modes |
The list of SOG modes. More... | |
RTTI stuff | |
typedef CPosePDFSOGPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPosePDFSOG |
static mrpt::utils::TRuntimeClassId | classCPosePDFSOG |
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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPosePDFSOGPtr | Create () |
typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPosePDFSOG::CListGaussianModes |
Definition at line 63 of file CPosePDFSOG.h.
typedef CListGaussianModes::const_iterator mrpt::poses::CPosePDFSOG::const_iterator |
Definition at line 64 of file CPosePDFSOG.h.
typedef CListGaussianModes::iterator mrpt::poses::CPosePDFSOG::iterator |
Definition at line 65 of file CPosePDFSOG.h.
typedef CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::SmartPtr |
A typedef for the associated smart pointer
Definition at line 39 of file CPosePDFSOG.h.
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The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
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Enumerator | |
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is_3D_val |
Definition at line 91 of file CPosePDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 93 of file CPosePDF.h.
mrpt::poses::CPosePDFSOG::CPosePDFSOG | ( | size_t | nModes = 1 | ) |
Default constructor.
nModes | The initial size of CPosePDFSOG::m_modes |
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Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
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virtual |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)
Implements mrpt::poses::CPosePDF.
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Definition at line 114 of file CPosePDFSOG.h.
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Definition at line 116 of file CPosePDFSOG.h.
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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 >.
void mrpt::poses::CPosePDFSOG::clear | ( | ) |
Clear the list of modes.
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Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPosePDF.
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static |
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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.
Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
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pure virtualinherited |
Draws a single sample from the distribution.
void mrpt::poses::CPosePDFSOG::drawSingleSample | ( | CPose2D & | outPart | ) | const |
Draws a single sample from the distribution.
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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Return whether there is any Gaussian mode.
Definition at line 82 of file CPosePDFSOG.h.
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Definition at line 115 of file CPosePDFSOG.h.
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Definition at line 117 of file CPosePDFSOG.h.
Definition at line 119 of file CPosePDFSOG.h.
References mrpt::math::cov(), DEFINE_SERIALIZABLE_POST_CUSTOM_BASE, mrpt::pbmap::inverse(), mrpt::math::operator+=(), and saveToTextFile().
double mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF | ( | const mrpt::poses::CPose2D & | x | ) | const |
Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1].
double mrpt::poses::CPosePDFSOG::evaluatePDF | ( | const mrpt::poses::CPose2D & | x, |
bool | sumOverAllPhis = false |
||
) | const |
Evaluates the PDF at a given point.
void mrpt::poses::CPosePDFSOG::evaluatePDFInArea | ( | const double & | x_min, |
const double & | x_max, | ||
const double & | y_min, | ||
const double & | y_max, | ||
const double & | resolutionXY, | ||
const double & | phi, | ||
mrpt::math::CMatrixD & | outMatrix, | ||
bool | sumOverAllPhis = false |
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) |
Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
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inline |
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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)
Definition at line 100 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 109 of file CPosePDF.h.
References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE, and mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 67 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 76 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 85 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
void mrpt::poses::CPosePDFSOG::getCovarianceAndMean | ( | mrpt::math::CMatrixDouble33 & | cov, |
CPose2D & | mean_point | ||
) | const |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 47 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 136 of file CProbabilityDensityFunction.h.
References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().
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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.
Definition at line 98 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::drawSingleSample(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::saveToTextFile(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
void mrpt::poses::CPosePDFSOG::getMean | ( | CPose2D & | mean_pose | ) | const |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 57 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().
void mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean | ( | mrpt::math::CMatrixDouble33 & | cov, |
CPose2D & | mean_point | ||
) | const |
For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
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Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPosePDF.
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Definition at line 92 of file CPosePDF.h.
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Definition at line 94 of file CPosePDF.h.
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staticinherited |
This static method computes the pose composition Jacobians, with these formulas:
Referenced by mrpt::math::jacobians::jacobs_2D_pose_comp().
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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::CPosePDFSOG::mergeModes | ( | double | max_KLd = 0.5 , |
bool | verbose = false |
||
) |
Merge very close modes so the overall number of modes is reduced while preserving the total distribution.
This method uses the approach described in the paper:
max_KLd | The maximum KL-divergence to consider the merge of two nodes (and then stops the process). |
void mrpt::poses::CPosePDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 39 of file CPosePDFSOG.h.
void mrpt::poses::CPosePDFSOG::operator+= | ( | const mrpt::poses::CPose2D & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
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Inserts a copy of the given mode into the SOG.
Definition at line 110 of file CPosePDFSOG.h.
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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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
void mrpt::poses::CPosePDFSOG::resize | ( | const size_t | N | ) |
Resize the number of SOG modes.
void mrpt::poses::CPosePDFSOG::rotateAllCovariances | ( | const double & | ang | ) |
Rotate all the covariance matrixes by replacing them by , where
.
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Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
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inline |
Return the number of Gaussian modes.
Definition at line 81 of file CPosePDFSOG.h.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
References BASE_IMPEXP, mrpt::utils::CSerializablePtr, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
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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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 41 of file CPosePDF.h.
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Definition at line 39 of file CPosePDFSOG.h.
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Definition at line 42 of file CSerializable.h.
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Definition at line 39 of file CPosePDFSOG.h.
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The list of SOG modes.
Definition at line 73 of file CPosePDFSOG.h.
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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 31 of file CProbabilityDensityFunction.h.
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