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mrpt::poses::CPose3DQuatPDFGaussian Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $.

This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

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

See also
CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf

Definition at line 39 of file CPose3DQuatPDFGaussian.h.

#include <mrpt/poses/CPose3DQuatPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussian:
Inheritance graph

Public Types

typedef CPose3DQuat 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 ()
 
 CPose3DQuatPDFGaussian ()
 Default constructor - set all values to zero. More...
 
 CPose3DQuatPDFGaussian (mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param)
 Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. More...
 
 CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean)
 Constructor from a default mean value, covariance equals to zero. More...
 
 CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_Cov)
 Constructor with mean and covariance. More...
 
 CPose3DQuatPDFGaussian (const CPosePDFGaussian &o)
 Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). More...
 
 CPose3DQuatPDFGaussian (const CPose3DPDFGaussian &o)
 Constructor from an equivalent Gaussian in Euler angles representation. More...
 
const CPose3DQuatgetPoseMean () const
 
CPose3DQuatgetPoseMean ()
 
void getMean (CPose3DQuat &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble77 &cov, CPose3DQuat &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. More...
 
void copyFrom (const CPose3DQuatPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPosePDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void copyFrom (const CPose3DPDFGaussian &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. More...
 
void changeCoordinatesReference (const CPose3DQuat &newReferenceBase)
 this = p (+) this. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void drawSingleSample (CPose3DQuat &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution. More...
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE
 Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. More...
 
void inverse (CPose3DQuatPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...
 
CPose3DQuatPDFGaussian operator- () const
 Unary - operator, returns the PDF of the inverse pose. More...
 
void operator+= (const CPose3DQuat &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). More...
 
void operator+= (const CPose3DQuatPDFGaussian &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). More...
 
void operator-= (const CPose3DQuatPDFGaussian &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). More...
 
double evaluatePDF (const CPose3DQuat &x) const
 Evaluates the PDF at a given point. More...
 
double evaluateNormalizedPDF (const CPose3DQuat &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. More...
 
double mahalanobisDistanceTo (const CPose3DQuatPDFGaussian &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians. 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 mxArraywriteToMatlab () 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 (CPose3DQuat &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, CPose3DQuat &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, CPose3DQuat &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPose3DQuat 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 (CPose3DQuat &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 CPose3DQuatPDFcreateFrom2D (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 CPose3DQuatPDF. More...
 
static void jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL)
 This static method computes the two Jacobians of a pose composition operation $f(x,u)= x \oplus u$. More...
 

Public Attributes

CPose3DQuat mean
 The mean value. More...
 
mrpt::math::CMatrixDouble77 cov
 The 7x7 covariance matrix. More...
 

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 <br>
static const mrpt::utils::TRuntimeClassId classCPose3DQuatPDF
 
RTTI stuff <br>
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...
 

RTTI stuff <br>

typedef CPose3DQuatPDFGaussianPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DQuatPDFGaussian
 
static mrpt::utils::TRuntimeClassId classCPose3DQuatPDFGaussian
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DQuatPDFGaussianPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

typedef CPose3DQuatPDFGaussianPtr mrpt::poses::CPose3DQuatPDFGaussian::SmartPtr

A typedef for the associated smart pointer

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Constructor & Destructor Documentation

◆ CPose3DQuatPDFGaussian() [1/6]

mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( )

Default constructor - set all values to zero.

◆ CPose3DQuatPDFGaussian() [2/6]

mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( mrpt::math::TConstructorFlags_Quaternions  constructor_dummy_param)

Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.

◆ CPose3DQuatPDFGaussian() [3/6]

mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat init_Mean)
explicit

Constructor from a default mean value, covariance equals to zero.

◆ CPose3DQuatPDFGaussian() [4/6]

mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DQuat init_Mean,
const mrpt::math::CMatrixDouble77 init_Cov 
)

Constructor with mean and covariance.

◆ CPose3DQuatPDFGaussian() [5/6]

mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPosePDFGaussian o)
explicit

Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).

◆ CPose3DQuatPDFGaussian() [6/6]

mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian ( const CPose3DPDFGaussian o)
explicit

Constructor from an equivalent Gaussian in Euler angles representation.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::_GetBaseClass ( )
staticprotected

◆ assureSymmetry()

void mrpt::poses::CPose3DQuatPDFGaussian::assureSymmetry ( )
protected

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

◆ changeCoordinatesReference() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussian::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< CPose3DQuat, 7 >.

◆ changeCoordinatesReference() [2/2]

void mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference ( const CPose3DQuat newReferenceBase)

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.

◆ clone()

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

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

◆ copyFrom() [1/3]

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

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

◆ copyFrom() [2/3]

void mrpt::poses::CPose3DQuatPDFGaussian::copyFrom ( const CPose3DQuatPDF o)
virtual

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

Implements mrpt::poses::CPose3DQuatPDF.

◆ copyFrom() [3/3]

void mrpt::poses::CPose3DQuatPDFGaussian::copyFrom ( const CPosePDF o)

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

◆ Create()

static CPose3DQuatPDFGaussianPtr mrpt::poses::CPose3DQuatPDFGaussian::Create ( )
static

◆ createFrom2D()

static CPose3DQuatPDF* mrpt::poses::CPose3DQuatPDF::createFrom2D ( const CPosePDF o)
staticinherited

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 CPose3DQuatPDF.

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

See also
copyFrom

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussian::CreateObject ( )
static

◆ drawManySamples()

void mrpt::poses::CPose3DQuatPDFGaussian::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
virtual

Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

◆ drawSingleSample() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussian::drawSingleSample ( CPose3DQuat outPart) const

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( TDATA &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussian::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

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 136 of file CObject.h.

◆ evaluateNormalizedPDF()

double mrpt::poses::CPose3DQuatPDFGaussian::evaluateNormalizedPDF ( const CPose3DQuat x) const

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

◆ evaluatePDF()

double mrpt::poses::CPose3DQuatPDFGaussian::evaluatePDF ( const CPose3DQuat x) const

Evaluates the PDF at a given point.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::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 88 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DQuatPDF::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 79 of file CPose3DQuatPDF.h.

References mrpt::opengl::posePDF2opengl().

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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 85 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( mrpt::math::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 67 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( mrpt::math::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 76 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussian::getCovarianceAndMean ( mrpt::math::CMatrixDouble77 cov,
CPose3DQuat mean_point 
) const

Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.

See also
getMean

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
TDATA &  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

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
TDATA &  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 47 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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 136 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getInformationMatrix ( mrpt::math::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 98 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMean ( TDATA &  mean_point) const
pure virtualinherited

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

See also
getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void mrpt::poses::CPose3DQuatPDFGaussian::getMean ( CPose3DQuat mean_pose) const

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

See also
getCovariance

◆ getMeanVal()

CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMeanVal ( ) const
inlineinherited

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

See also
getCovariance, getInformationMatrix

Definition at line 57 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( )
inline

Definition at line 73 of file CPose3DQuatPDFGaussian.h.

References mean().

◆ getPoseMean() [2/2]

const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean ( ) const
inline

Definition at line 72 of file CPose3DQuatPDFGaussian.h.

References mean().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPose3DQuatPDF.

◆ inverse()

void mrpt::poses::CPose3DQuatPDFGaussian::inverse ( CPose3DQuatPDF o) const
virtual

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

Implements mrpt::poses::CPose3DQuatPDF.

◆ jacobiansPoseComposition()

static void mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition ( const CPose3DQuat x,
const CPose3DQuat u,
mrpt::math::CMatrixDouble77 df_dx,
mrpt::math::CMatrixDouble77 df_du,
CPose3DQuat out_x_oplus_u = NULL 
)
staticinherited

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x \oplus u$.

Parameters
out_x_oplus_uIf set to !=NULL, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here:

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

◆ mahalanobisDistanceTo()

double mrpt::poses::CPose3DQuatPDFGaussian::mahalanobisDistanceTo ( const CPose3DQuatPDFGaussian theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

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

◆ operator delete() [1/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator delete[]()

void mrpt::poses::CPose3DQuatPDFGaussian::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new() [1/3]

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPose3DQuatPDFGaussian::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator new[]()

void* mrpt::poses::CPose3DQuatPDFGaussian::operator new[] ( size_t  size)
inline

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ operator+=() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussian::operator+= ( const CPose3DQuat Ap)

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

◆ operator+=() [2/2]

void mrpt::poses::CPose3DQuatPDFGaussian::operator+= ( const CPose3DQuatPDFGaussian Ap)

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

◆ operator-()

CPose3DQuatPDFGaussian mrpt::poses::CPose3DQuatPDFGaussian::operator- ( ) const
inline

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


Definition at line 96 of file CPose3DQuatPDFGaussian.h.

References mrpt::pbmap::inverse(), and mrpt::math::UNINITIALIZED_QUATERNION.

◆ operator-=()

void mrpt::poses::CPose3DQuatPDFGaussian::operator-= ( const CPose3DQuatPDFGaussian Ap)

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

◆ readFromStream()

void mrpt::poses::CPose3DQuatPDFGaussian::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ saveToTextFile()

void mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile ( const std::string &  file) const
virtual

Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
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.

Returns
A new 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.

◆ writeToStream()

void mrpt::poses::CPose3DQuatPDFGaussian::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CPose3DQuatPDFGaussian

mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian
staticprotected

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ classCObject

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

Definition at line 124 of file CObject.h.

◆ classCPose3DQuatPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDF::classCPose3DQuatPDF
staticinherited

Definition at line 45 of file CPose3DQuatPDF.h.

◆ classCPose3DQuatPDFGaussian

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussian::classCPose3DQuatPDFGaussian
static

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ classCSerializable

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

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::classinfo
static

Definition at line 42 of file CPose3DQuatPDFGaussian.h.

◆ cov

mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussian::cov

The 7x7 covariance matrix.

Definition at line 70 of file CPose3DQuatPDFGaussian.h.

◆ mean

CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussian::mean

The mean value.

Definition at line 69 of file CPose3DQuatPDFGaussian.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , 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 31 of file CProbabilityDensityFunction.h.




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