A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the covariance.
This class implements a PDF as a mono-modal Gaussian distribution in its information form, that is, keeping the inverse of the covariance matrix instead of the covariance matrix itself.
This class is the dual of CPosePDFGaussian.
Definition at line 54 of file CPosePDFGaussianInf.h.
#include <mrpt/poses/CPosePDFGaussianInf.h>
Public Member Functions | |
CPosePDFGaussianInf () | |
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!) | |
CPosePDFGaussianInf (const CPose2D &init_Mean) | |
Constructor with a mean value (inverse covariance=all zeros -> so be careful!) | |
CPosePDFGaussianInf (const CPose2D &init_Mean, const CMatrixDouble33 &init_CovInv) | |
Constructor. | |
CPosePDFGaussianInf (const CPosePDF &o) | |
Copy constructor, including transformations between other PDFs. | |
CPosePDFGaussianInf (const CPose3DPDF &o) | |
Copy constructor, including transformations between other PDFs. | |
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 | copyFrom (const CPosePDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
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 PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. | |
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 | changeCoordinatesReference (const CPose2D &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 | rotateCov (const double ang) |
Rotate the covariance matrix by replacing it by ![]() ![]() | |
void | inverseComposition (const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &ref) |
Set ![]() | |
void | inverseComposition (const CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &x0, const CMatrixDouble33 &COV_01) |
Set ![]() | |
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 | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) |
Bayesian fusion of two points gauss. | |
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) const |
Evaluates the PDF at a given point. | |
double | evaluateNormalizedPDF (const CPose2D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. | |
double | mahalanobisDistanceTo (const CPosePDFGaussianInf &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. | |
void | operator+= (const CPosePDFGaussianInf &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). | |
void | operator-= (const CPosePDFGaussianInf &ref) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) | |
Static Public Member Functions | |
static void | jacobiansPoseComposition (const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du) |
This static method computes the pose composition Jacobians, with these formulas: | |
Public Attributes | |
Data fields | |
CPose2D | mean |
The mean value. | |
CMatrixDouble33 | cov_inv |
The inverse of the 3x3 covariance matrix (the "information" matrix) | |
Protected Member Functions | |
void | assureSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) | |
RTTI stuff | |
typedef CPosePDFGaussianInfPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPosePDFGaussianInf |
static mrpt::utils::TRuntimeClassId | classCPosePDFGaussianInf |
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 CPosePDFGaussianInfPtr | Create () |
A typedef for the associated smart pointer
Definition at line 57 of file CPosePDFGaussianInf.h.
mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf | ( | ) |
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!)
mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf | ( | const CPose2D & | init_Mean | ) | [explicit] |
Constructor with a mean value (inverse covariance=all zeros -> so be careful!)
mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf | ( | const CPose2D & | init_Mean, |
const CMatrixDouble33 & | init_CovInv | ||
) |
Constructor.
mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf | ( | const CPosePDF & | o | ) | [inline, explicit] |
Copy constructor, including transformations between other PDFs.
Definition at line 84 of file CPosePDFGaussianInf.h.
mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf | ( | const CPose3DPDF & | o | ) | [inline, explicit] |
Copy constructor, including transformations between other PDFs.
Definition at line 87 of file CPosePDFGaussianInf.h.
static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGaussianInf::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussianInf::assureSymmetry | ( | ) | [protected] |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
void mrpt::poses::CPosePDFGaussianInf::bayesianFusion | ( | const CPosePDF & | p1, |
const CPosePDF & | p2, | ||
const double & | minMahalanobisDistToDrop = 0 |
||
) | [virtual] |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussianInf::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::CPosePDFGaussianInf::changeCoordinatesReference | ( | const CPose2D & | 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.
Result PDF substituted the currently stored one in the object.
void mrpt::poses::CPosePDFGaussianInf::copyFrom | ( | const CPosePDF & | o | ) | [virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussianInf::copyFrom | ( | const CPose3DPDF & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
static CPosePDFGaussianInfPtr mrpt::poses::CPosePDFGaussianInf::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::poses::CPosePDFGaussianInf::CreateObject | ( | ) | [static] |
void mrpt::poses::CPosePDFGaussianInf::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::CPosePDFGaussianInf::drawSingleSample | ( | CPose2D & | outPart | ) | const [virtual] |
Draws a single sample from the distribution.
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
virtual mrpt::utils::CObject* mrpt::poses::CPosePDFGaussianInf::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
double mrpt::poses::CPosePDFGaussianInf::evaluateNormalizedPDF | ( | const CPose2D & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
double mrpt::poses::CPosePDFGaussianInf::evaluatePDF | ( | const CPose2D & | x | ) | const |
Evaluates the PDF at a given point.
void mrpt::poses::CPosePDFGaussianInf::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 mrpt::poses::CPosePDFGaussianInf::getMean | ( | CPose2D & | mean_pose | ) | const [virtual] |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGaussianInf::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussianInf::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::CPosePDFGaussianInf::inverseComposition | ( | const CPosePDFGaussianInf & | x, |
const CPosePDFGaussianInf & | ref | ||
) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!).
Referenced by mrpt::poses::operator-().
void mrpt::poses::CPosePDFGaussianInf::inverseComposition | ( | const CPosePDFGaussianInf & | x1, |
const CPosePDFGaussianInf & | x0, | ||
const CMatrixDouble33 & | COV_01 | ||
) |
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1).
static void mrpt::poses::CPosePDFGaussianInf::jacobiansPoseComposition | ( | const CPosePDFGaussianInf & | x, |
const CPosePDFGaussianInf & | u, | ||
CMatrixDouble33 & | df_dx, | ||
CMatrixDouble33 & | df_du | ||
) | [static] |
double mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo | ( | const CPosePDFGaussianInf & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
void mrpt::poses::CPosePDFGaussianInf::operator+= | ( | const CPose2D & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
void mrpt::poses::CPosePDFGaussianInf::operator+= | ( | const CPosePDFGaussianInf & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
void mrpt::poses::CPosePDFGaussianInf::operator-= | ( | const CPosePDFGaussianInf & | ref | ) | [inline] |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
Definition at line 182 of file CPosePDFGaussianInf.h.
void mrpt::poses::CPosePDFGaussianInf::rotateCov | ( | const double | ang | ) |
Rotate the covariance matrix by replacing it by , where
.
void mrpt::poses::CPosePDFGaussianInf::saveToTextFile | ( | const std::string & | file | ) | const [virtual] |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGaussianInf::_init_CPosePDFGaussianInf [static, protected] |
Definition at line 57 of file CPosePDFGaussianInf.h.
Definition at line 57 of file CPosePDFGaussianInf.h.
Definition at line 57 of file CPosePDFGaussianInf.h.
The inverse of the 3x3 covariance matrix (the "information" matrix)
Definition at line 69 of file CPosePDFGaussianInf.h.
The mean value.
Definition at line 68 of file CPosePDFGaussianInf.h.
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