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mrpt::poses::CPointPDFSOG Class Reference


Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D point $ p(\mathbf{x}) = [x ~ y ~ z ]^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 CPointPDFSOG::m_modes

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

See also:
CPointPDF, CPosePDF,

Definition at line 53 of file CPointPDFSOG.h.

#include <mrpt/poses/CPointPDFSOG.h>

Inheritance diagram for mrpt::poses::CPointPDFSOG:
Inheritance graph
[legend]

List of all members.

Classes

struct  TGaussianMode
 The struct for each mode: More...

Public Types

typedef std::deque< TGaussianModeCListGaussianModes
typedef std::deque
< TGaussianMode >
::const_iterator 
const_iterator
typedef std::deque
< TGaussianMode >::iterator 
iterator

Public Member Functions

 CPointPDFSOG (size_t nModes=1)
 Default constructor.
void clear ()
 Clear all the gaussian modes.
const TGaussianModeoperator[] (size_t i) const
 Access to individual beacons.
TGaussianModeoperator[] (size_t i)
 Access to individual beacons.
const TGaussianModeget (size_t i) const
 Access to individual beacons.
TGaussianModeget (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.
size_t size () const
 Return the number of Gaussian modes.
bool empty () const
 Return whether there is any Gaussian mode.
void getMean (CPoint3D &mean_point) const
 Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
void getCovarianceAndMean (CMatrixDouble33 &cov, CPoint3D &mean_point) const
 Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.
void normalizeWeights ()
 Normalize the weights in m_modes such as the maximum log-weight is 0.
void getMostLikelyMode (CPointPDFGaussian &outVal) const
 Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
double ESS () const
 Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).
void copyFrom (const CPointPDF &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)
  • x_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 drawSingleSample (CPoint3D &outSample) const
 Draw a sample from the pdf.
void bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)
 Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)
void evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, CMatrixD &outMatrix, bool sumOverAllZs=false)
 Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
double evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const
 Evaluates the PDF at a given point.

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 CPointPDFSOGPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CPointPDFSOG
static mrpt::utils::TRuntimeClassId classCPointPDFSOG
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CPointPDFSOGPtr Create ()

Member Typedef Documentation

Definition at line 74 of file CPointPDFSOG.h.

Definition at line 75 of file CPointPDFSOG.h.

Definition at line 76 of file CPointPDFSOG.h.

A typedef for the associated smart pointer

Definition at line 56 of file CPointPDFSOG.h.


Constructor & Destructor Documentation

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

Default constructor.

Parameters:
nModesThe initial size of CPointPDFSOG::m_modes

Member Function Documentation

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

Reimplemented from mrpt::poses::CPointPDF.

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

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

void mrpt::poses::CPointPDFSOG::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double &  minMahalanobisDistToDrop = 0 
) [virtual]

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters:
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

Implements mrpt::poses::CPointPDF.

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

Definition at line 121 of file CPointPDFSOG.h.

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

Definition at line 123 of file CPointPDFSOG.h.

void mrpt::poses::CPointPDFSOG::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< CPoint3D, 3 >.

void mrpt::poses::CPointPDFSOG::clear ( )

Clear all the gaussian modes.

void mrpt::poses::CPointPDFSOG::copyFrom ( const CPointPDF o) [virtual]

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

Implements mrpt::poses::CPointPDF.

static CPointPDFSOGPtr mrpt::poses::CPointPDFSOG::Create ( ) [static]
static mrpt::utils::CObject* mrpt::poses::CPointPDFSOG::CreateObject ( ) [static]
void mrpt::poses::CPointPDFSOG::drawSingleSample ( CPoint3D outSample) const [virtual]

Draw a sample from the pdf.

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

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

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

Implements mrpt::utils::CObject.

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

Return whether there is any Gaussian mode.

Definition at line 130 of file CPointPDFSOG.h.

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

Definition at line 124 of file CPointPDFSOG.h.

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

Definition at line 122 of file CPointPDFSOG.h.

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

Definition at line 126 of file CPointPDFSOG.h.

double mrpt::poses::CPointPDFSOG::ESS ( ) const

Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).

double mrpt::poses::CPointPDFSOG::evaluatePDF ( const CPoint3D x,
bool  sumOverAllZs 
) const

Evaluates the PDF at a given point.

void mrpt::poses::CPointPDFSOG::evaluatePDFInArea ( float  x_min,
float  x_max,
float  y_min,
float  y_max,
float  resolutionXY,
float  z,
CMatrixD outMatrix,
bool  sumOverAllZs = false 
)

Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

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

Access to individual beacons.

Definition at line 106 of file CPointPDFSOG.h.

References ASSERT_.

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

Access to individual beacons.

Definition at line 111 of file CPointPDFSOG.h.

References ASSERT_.

void mrpt::poses::CPointPDFSOG::getCovarianceAndMean ( CMatrixDouble33 cov,
CPoint3D mean_point 
) const

Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.

See also:
getMean
void mrpt::poses::CPointPDFSOG::getMean ( CPoint3D mean_point) const [virtual]

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

See also:
getCovariance

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

void mrpt::poses::CPointPDFSOG::getMostLikelyMode ( CPointPDFGaussian outVal) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

void mrpt::poses::CPointPDFSOG::normalizeWeights ( )

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

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

Access to individual beacons.

Definition at line 100 of file CPointPDFSOG.h.

References ASSERT_.

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

Access to individual beacons.

Definition at line 95 of file CPointPDFSOG.h.

References ASSERT_.

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

Inserts a copy of the given mode into the SOG.

Definition at line 117 of file CPointPDFSOG.h.

void mrpt::poses::CPointPDFSOG::resize ( const size_t  N)

Resize the number of SOG modes.

void mrpt::poses::CPointPDFSOG::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 weight)
  • x_mean (gaussian mean value)
  • y_mean (gaussian mean value)
  • x_mean (gaussian mean value)
  • C11 (Covariance elements)
  • C22 (Covariance elements)
  • C33 (Covariance elements)
  • C12 (Covariance elements)
  • C13 (Covariance elements)
  • C23 (Covariance elements)

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

size_t mrpt::poses::CPointPDFSOG::size ( ) const [inline]

Return the number of Gaussian modes.

Definition at line 129 of file CPointPDFSOG.h.


Member Data Documentation

Definition at line 56 of file CPointPDFSOG.h.

Definition at line 56 of file CPointPDFSOG.h.

Definition at line 56 of file CPointPDFSOG.h.

The list of SOG modes.

Definition at line 84 of file CPointPDFSOG.h.




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