mrpt::poses::CPose3DPDFSOG Class Reference

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose . More...

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:

List of all members.

Classes
struct	TGaussianMode
	The struct for each mode:. More...
Public Member Functions
	CPose3DPDFSOG (size_t nModes=1)
	Default constructor.
CPose3D	getEstimatedPose () const
	Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
CMatrixD	getEstimatedCovariance () const
	Returns an estimate of the pose covariance matrix (a 6x6 matrix for the variables x,y,z,yaw,pitch,roll).
void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0.
void	copyFrom (const CPose3DPDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations).
void	saveToTextFile (const std::string &file) const
	Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: w (The linear weight) x_mean (gaussian mean value) y_mean (gaussian mean value) x_mean (gaussian mean value) yaw_mean (gaussian mean value, in radians) pitch_mean (gaussian mean value, in radians) roll_mean (gaussian mean value, in radians) C11,C22,C33,C44,C55,C66 (Covariance elements) C12,C13,C14,C15,C16 (Covariance elements) C23,C24,C25,C25 (Covariance elements) C34,C35,C36 (Covariance elements) C45,C46 (Covariance elements) C56 (Covariance elements).
void	changeCoordinatesReference (const CPose3D &newReferenceBase)
	This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
void	bayesianFusion (CPose3DPDF &p1, CPose3DPDF &p2)
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object).
void	drawSingleSample (CPose3D &outPart) const
	Draws a single sample from the distribution.
void	drawManySamples (size_t N, std::vector< vector_double > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
void	inverse (CPose3DPDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void	appendFrom (const CPose3DPDFSOG &o)
	Append the Gaussian modes from "o" to the current set of modes of "this" density.
Public Attributes
std::deque< TGaussianMode >	m_modes
	Access directly to this array for modify the modes as desired.
Protected Member Functions
void	assureSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!).

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Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose .

This class implements that PDF as the following multi-modal Gaussian distribution:

Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.

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

See also:

CPose3DPDF

Definition at line 53 of file CPose3DPDFSOG.h.

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Constructor & Destructor Documentation

mrpt::poses::CPose3DPDFSOG::CPose3DPDFSOG

(

size_t

nModes = 1

)

Default constructor.

Parameters:

nModes

The initial size of CPose3DPDFSOG::m_modes

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Member Function Documentation

void mrpt::poses::CPose3DPDFSOG::appendFrom

(

const CPose3DPDFSOG &

o

)

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

void mrpt::poses::CPose3DPDFSOG::assureSymmetry

(

)

[protected]

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

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

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

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::changeCoordinatesReference

(

const CPose3D &

newReferenceBase

)

[virtual]

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.

Result PDF substituted the currently stored one in the object.

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::copyFrom

(

const CPose3DPDF &

o

)

[virtual]

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

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)			const [virtual]

Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::drawSingleSample

(

CPose3D &

outPart

)

const [virtual]

Draws a single sample from the distribution.

Implements mrpt::poses::CPose3DPDF.

CMatrixD mrpt::poses::CPose3DPDFSOG::getEstimatedCovariance

(

)

const [virtual]

Returns an estimate of the pose covariance matrix (a 6x6 matrix for the variables x,y,z,yaw,pitch,roll).

Implements mrpt::poses::CPose3DPDF.

CPose3D mrpt::poses::CPose3DPDFSOG::getEstimatedPose

(

)

const [virtual]

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

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::inverse

(

CPose3DPDF &

o

)

const [virtual]

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

Implements mrpt::poses::CPose3DPDF.

void mrpt::poses::CPose3DPDFSOG::normalizeWeights

(

)

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

void mrpt::poses::CPose3DPDFSOG::saveToTextFile

(

const std::string &

file

)

const [virtual]

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

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

Implements mrpt::poses::CPose3DPDF.

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Member Data Documentation

std::deque<TGaussianMode> mrpt::poses::CPose3DPDFSOG::m_modes

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!!

Definition at line 88 of file CPose3DPDFSOG.h.