mrpt::poses::CPosePDFGrid Class Reference

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

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:

List of all members.

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 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 (CPosePDF &p1, 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.

---

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 49 of file CPosePDFGrid.h.

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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.

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Member Function Documentation

void mrpt::poses::CPosePDFGrid::bayesianFusion	(	CPosePDF &	p1,
		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 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::CPosePDFGrid::copyFrom

(

const CPosePDF &

o

)

[virtual]

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

Implements mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFGrid::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 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

void mrpt::poses::CPosePDFGrid::drawSingleSample

(

CPose2D &

outPart

)

const

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

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::poses::CPosePDFGrid::getMean

(

CPose2D &

mean_pose

)

const

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

See also:

getCovariance

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.

void mrpt::poses::CPosePDFGrid::normalize

(

)

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

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::CPosePDFGrid::uniformDistribution

(

)

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