Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ .

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

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPosePDFSOG::m_modes

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

See also:: CPose2D, CPosePDF, CPosePDFParticles

Definition at line 56 of file CPosePDFSOG.h.

#include <mrpt/poses/CPosePDFSOG.h>

Inheritance diagram for mrpt::poses::CPosePDFSOG:

[legend]

List of all members.

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
Public Member Functions
	CPosePDFSOG (size_t nModes=1)
	Default constructor.
size_t	size () const
	Return the number of Gaussian modes.
bool	empty () const
	Return whether there is any Gaussian mode.
void	clear ()
	Clear the list of modes.
const TGaussianMode &	operator[] (size_t i) const
	Access to individual beacons.
TGaussianMode &	operator[] (size_t i)
	Access to individual beacons.
const TGaussianMode &	get (size_t i) const
	Access to individual beacons.
TGaussianMode &	get (size_t i)
	Access to individual beacons.
void	push_back (const TGaussianMode &m)
	Inserts a copy of the given mode into the SOG.
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.
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.
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	getMostLikelyCovarianceAndMean (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.
void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0.
void	copyFrom (const CPosePDF &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 weight) x_mean (gaussian mean value) y_mean (gaussian mean value) phi_mean (gaussian mean value) C11 (Covariance elements) C22 (Covariance elements) C33 (Covariance elements) C12 (Covariance elements) C13 (Covariance elements) C23 (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	rotateAllCovariances (const double &ang)
	Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .
void	drawSingleSample (CPose2D &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 1x3 vectors, where each row contains a (x,y,phi) datum.
void	inverse (CPosePDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void	operator+= (const CPose2D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
double	evaluatePDF (const CPose2D &x, bool sumOverAllPhis=false) const
	Evaluates the PDF at a given point.
double	evaluateNormalizedPDF (const CPose2D &x) const
	Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1].
void	evaluatePDFInArea (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, 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).
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)
Protected Member Functions
void	assureSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Protected Attributes
CListGaussianModes	m_modes
	The list of SOG modes.
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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPosePDFSOGPtr	Create ()

Member Typedef Documentation

typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPosePDFSOG::CListGaussianModes

Definition at line 83 of file CPosePDFSOG.h.

typedef CListGaussianModes::const_iterator mrpt::poses::CPosePDFSOG::const_iterator

Definition at line 84 of file CPosePDFSOG.h.

typedef CListGaussianModes::iterator mrpt::poses::CPosePDFSOG::iterator

Definition at line 85 of file CPosePDFSOG.h.

typedef CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::SmartPtr

A typedef for the associated smart pointer

Definition at line 59 of file CPosePDFSOG.h.

Constructor & Destructor Documentation

mrpt::poses::CPosePDFSOG::CPosePDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters:

nModes The initial size of CPosePDFSOG::m_modes

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFSOG::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFSOG::assureSymmetry ( ) [protected]

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

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

const_iterator mrpt::poses::CPosePDFSOG::begin ( ) const [inline]

Definition at line 136 of file CPosePDFSOG.h.

iterator mrpt::poses::CPosePDFSOG::begin ( ) [inline]

Definition at line 134 of file CPosePDFSOG.h.

void mrpt::poses::CPosePDFSOG::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::CPosePDFSOG::clear ( )

Clear the list of modes.

void mrpt::poses::CPosePDFSOG::copyFrom ( const CPosePDF & o ) [virtual]

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

Implements mrpt::poses::CPosePDF.

static CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::Create ( ) [static]

static mrpt::utils::CObject* mrpt::poses::CPosePDFSOG::CreateObject ( ) [static]

void mrpt::poses::CPosePDFSOG::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::CPosePDFSOG::drawSingleSample ( CPose2D & outPart ) const [virtual]

Draws a single sample from the distribution.

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

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFSOG::duplicate ( ) const [virtual]

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

Implements mrpt::utils::CObject.

bool mrpt::poses::CPosePDFSOG::empty ( ) const [inline]

Return whether there is any Gaussian mode.

Definition at line 102 of file CPosePDFSOG.h.

iterator mrpt::poses::CPosePDFSOG::end ( ) [inline]

Definition at line 135 of file CPosePDFSOG.h.

const_iterator mrpt::poses::CPosePDFSOG::end ( ) const [inline]

Definition at line 137 of file CPosePDFSOG.h.

iterator mrpt::poses::CPosePDFSOG::erase ( iterator i ) [inline]

Definition at line 139 of file CPosePDFSOG.h.

double mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF ( const 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 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,
		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).

const TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i ) const [inline]

Access to individual beacons.

Definition at line 119 of file CPosePDFSOG.h.

References ASSERT_.

TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i ) [inline]

Access to individual beacons.

Definition at line 124 of file CPosePDFSOG.h.

References ASSERT_.

void mrpt::poses::CPosePDFSOG::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::CPosePDFSOG::getMean ( CPose2D & mean_pose ) const [virtual]

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

See also:: getCovariance

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

void mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean	(	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.

See also:: getMean

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFSOG::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFSOG::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::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:

"Kullback-Leibler Approach to Gaussian Mixture Reduction" AR Runnalls. IEEE Transactions on Aerospace and Electronic Systems, 2007.

Parameters:

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.

void mrpt::poses::CPosePDFSOG::operator+= ( const CPose2D & Ap )

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

TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i ) [inline]

Access to individual beacons.

Definition at line 113 of file CPosePDFSOG.h.

References ASSERT_.

const TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i ) const [inline]

Access to individual beacons.

Definition at line 108 of file CPosePDFSOG.h.

References ASSERT_.

void mrpt::poses::CPosePDFSOG::push_back ( const TGaussianMode & m ) [inline]

Inserts a copy of the given mode into the SOG.

Definition at line 130 of file CPosePDFSOG.h.

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 $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .

void mrpt::poses::CPosePDFSOG::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: