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mrpt::poses::CPosePDFGrid Class Referenceabstract

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 30 of file CPosePDFGrid.h.

#include <mrpt/poses/CPosePDFGrid.h>

Inheritance diagram for mrpt::poses::CPosePDFGrid:
Inheritance graph

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose2D type_value
 The type of the state the PDF represents.
 

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=mrpt::utils::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) MRPT_OVERRIDE
 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 MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
 
void saveToTextFile (const std::string &dataFile) const MRPT_OVERRIDE
 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) MRPT_OVERRIDE
 this = p (+) this.
 
void bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
 Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)
 
void inverse (CPosePDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
 
void drawSingleSample (CPose2D &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE
 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.
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)
 
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF.
 
virtual void getMean (CPose2D &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF).
 
virtual void getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const=0
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose2D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
 
CPose2D getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF).
 
void getCovariance (mrpt::math::CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
 
void getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
 
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
 
virtual void getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
 
virtual void drawSingleSample (CPose2D &outPart) const=0
 Draws a single sample from the distribution.
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix.
 
size_t x2idx (double x) const
 Returns "indexes" from coordinates:
 
size_t y2idx (double y) const
 Returns "indexes" from coordinates:
 
size_t phi2idx (double phi) const
 Returns "indexes" from coordinates:
 
double idx2x (size_t x) const
 Returns coordinates from "indexes":
 
double idx2y (size_t y) const
 Returns coordinates from "indexes":
 
double idx2phi (size_t phi) const
 Returns coordinates from "indexes":
 
void setSize (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)
 Changes the limits and size of the grid, erasing previous contents:
 
const double * getByPos (double x, double y, double phi) const
 Reads the contents of a cell.
 
double * getByPos (double x, double y, double phi)
 Reads the contents of a cell.
 
const double * getByIndex (size_t x, size_t y, size_t phi) const
 Reads the contents of a cell.
 
double * getByIndex (size_t x, size_t y, size_t phi)
 Reads the contents of a cell.
 
void getAsMatrix (const double &phi, MATRIXLIKE &outMat)
 Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".
 
double getXMin () const
 Get info about the grid:
 
double getXMax () const
 
double getYMin () const
 
double getYMax () const
 
double getPhiMin () const
 
double getPhiMax () const
 
double getResolutionXY () const
 
double getResolutionPhi () const
 
size_t getSizeX () const
 
size_t getSizeY () const
 
size_t getSizePhi () const
 

Static Public Member Functions

static void jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true)
 This static method computes the pose composition Jacobians, with these formulas:
 
static void jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du)
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
 
static bool is_3D ()
 
static bool is_PDF ()
 

Static Public Attributes

static const size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCPosePDF
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Protected Attributes

double m_xMin
 The limits and resolution of the grid:
 
double m_xMax
 
double m_yMin
 
double m_yMax
 
double m_phiMin
 
double m_phiMax
 
double m_resolutionXY
 
double m_resolutionPhi
 
size_t m_sizeX
 The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.
 
size_t m_sizeY
 
size_t m_sizePhi
 
size_t m_sizeXY
 
int m_idxLeftX
 The indexes of the "left" borders:
 
int m_idxLeftY
 
int m_idxLeftPhi
 
std::vector< double > m_data
 The data:
 

RTTI stuff <br>

typedef CPosePDFGridPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPosePDFGrid
 
static mrpt::utils::TRuntimeClassId classCPosePDFGrid
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CPosePDFGridPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 33 of file CPosePDFGrid.h.

◆ type_value

typedef CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::type_value
inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 91 of file CPosePDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPosePDF.h.

Constructor & Destructor Documentation

◆ CPosePDFGrid()

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 = mrpt::utils::DEG2RAD(180),
double  phiMin = -M_PIf,
double  phiMax = M_PIf 
)

Constructor: Initializes a, uniform distribution over the whole given range.

◆ ~CPosePDFGrid()

virtual mrpt::poses::CPosePDFGrid::~CPosePDFGrid ( )
virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::poses::CPosePDFGrid::_GetBaseClass ( )
staticprotected

◆ bayesianFusion()

void mrpt::poses::CPosePDFGrid::bayesianFusion ( const CPosePDF p1,
const 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.

◆ changeCoordinatesReference()

void mrpt::poses::CPosePDFGrid::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtual

this = p (+) this.

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 >.

◆ copyFrom()

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.

◆ Create()

static CPosePDFGridPtr mrpt::poses::CPosePDFGrid::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::poses::CPosePDFGrid::CreateObject ( )
static

◆ drawManySamples()

void mrpt::poses::CPosePDFGrid::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  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 >.

◆ drawSingleSample() [1/2]

void mrpt::poses::CPosePDFGrid::drawSingleSample ( CPose2D outPart) const

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

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::drawSingleSample ( CPose2D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::poses::CPosePDFGrid::duplicate ( ) const
virtual

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 109 of file CPosePDF.h.

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 100 of file CPosePDF.h.

◆ getAsMatrix()

void mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix ( const double &  phi,
MATRIXLIKE &  outMat 
)
inlineinherited

Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y".

Definition at line 200 of file CPose2DGridTemplate.h.

◆ getByIndex() [1/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex ( size_t  x,
size_t  y,
size_t  phi 
)
inlineinherited

Reads the contents of a cell.

Definition at line 191 of file CPose2DGridTemplate.h.

◆ getByIndex() [2/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByIndex ( size_t  x,
size_t  y,
size_t  phi 
) const
inlineinherited

Reads the contents of a cell.

Definition at line 183 of file CPose2DGridTemplate.h.

◆ getByPos() [1/2]

double * mrpt::poses::CPose2DGridTemplate< double >::getByPos ( double  x,
double  y,
double  phi 
)
inlineinherited

Reads the contents of a cell.

Definition at line 176 of file CPose2DGridTemplate.h.

◆ getByPos() [2/2]

const double * mrpt::poses::CPose2DGridTemplate< double >::getByPos ( double  x,
double  y,
double  phi 
) const
inlineinherited

Reads the contents of a cell.

Definition at line 169 of file CPose2DGridTemplate.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 85 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 67 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 76 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

void mrpt::poses::CPosePDFGrid::getCovarianceAndMean ( mrpt::math::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

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose2D &  mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose2D &  mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Definition at line 47 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 136 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 98 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMean ( CPose2D &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

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

◆ getMeanVal()

CPose2D mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 57 of file CProbabilityDensityFunction.h.

◆ getPhiMax()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMax ( ) const
inlineinherited

Definition at line 219 of file CPose2DGridTemplate.h.

◆ getPhiMin()

double mrpt::poses::CPose2DGridTemplate< double >::getPhiMin ( ) const
inlineinherited

Definition at line 218 of file CPose2DGridTemplate.h.

◆ getResolutionPhi()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionPhi ( ) const
inlineinherited

Definition at line 221 of file CPose2DGridTemplate.h.

◆ getResolutionXY()

double mrpt::poses::CPose2DGridTemplate< double >::getResolutionXY ( ) const
inlineinherited

Definition at line 220 of file CPose2DGridTemplate.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::poses::CPosePDFGrid::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::poses::CPosePDF.

◆ getSizePhi()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizePhi ( ) const
inlineinherited

Definition at line 224 of file CPose2DGridTemplate.h.

◆ getSizeX()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeX ( ) const
inlineinherited

Definition at line 222 of file CPose2DGridTemplate.h.

◆ getSizeY()

size_t mrpt::poses::CPose2DGridTemplate< double >::getSizeY ( ) const
inlineinherited

Definition at line 223 of file CPose2DGridTemplate.h.

◆ getXMax()

double mrpt::poses::CPose2DGridTemplate< double >::getXMax ( ) const
inlineinherited

Definition at line 215 of file CPose2DGridTemplate.h.

◆ getXMin()

double mrpt::poses::CPose2DGridTemplate< double >::getXMin ( ) const
inlineinherited

Get info about the grid:

Definition at line 214 of file CPose2DGridTemplate.h.

◆ getYMax()

double mrpt::poses::CPose2DGridTemplate< double >::getYMax ( ) const
inlineinherited

Definition at line 217 of file CPose2DGridTemplate.h.

◆ getYMin()

double mrpt::poses::CPose2DGridTemplate< double >::getYMin ( ) const
inlineinherited

Definition at line 216 of file CPose2DGridTemplate.h.

◆ idx2phi()

double mrpt::poses::CPose2DGridTemplate< double >::idx2phi ( size_t  phi) const
inlineinherited

Returns coordinates from "indexes":

Definition at line 92 of file CPose2DGridTemplate.h.

◆ idx2x()

double mrpt::poses::CPose2DGridTemplate< double >::idx2x ( size_t  x) const
inlineinherited

Returns coordinates from "indexes":

Definition at line 76 of file CPose2DGridTemplate.h.

◆ idx2y()

double mrpt::poses::CPose2DGridTemplate< double >::idx2y ( size_t  y) const
inlineinherited

Returns coordinates from "indexes":

Definition at line 84 of file CPose2DGridTemplate.h.

◆ inverse()

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.

◆ is_3D()

static bool mrpt::poses::CPosePDF::is_3D ( )
inlinestaticinherited

Definition at line 92 of file CPosePDF.h.

◆ is_PDF()

static bool mrpt::poses::CPosePDF::is_PDF ( )
inlinestaticinherited

Definition at line 94 of file CPosePDF.h.

◆ jacobiansPoseComposition() [1/2]

static void mrpt::poses::CPosePDF::jacobiansPoseComposition ( const CPose2D x,
const CPose2D u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du,
const bool  compute_df_dx = true,
const bool  compute_df_du = true 
)
staticinherited

This static method computes the pose composition Jacobians, with these formulas:

df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]

Referenced by mrpt::math::jacobians::jacobs_2D_pose_comp().

◆ jacobiansPoseComposition() [2/2]

static void mrpt::poses::CPosePDF::jacobiansPoseComposition ( const CPosePDFGaussian x,
const CPosePDFGaussian u,
mrpt::math::CMatrixDouble33 df_dx,
mrpt::math::CMatrixDouble33 df_du 
)
staticinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ normalize()

void mrpt::poses::CPosePDFGrid::normalize ( )

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

◆ phi2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::phi2idx ( double  phi) const
inlineinherited

Returns "indexes" from coordinates:

Definition at line 67 of file CPose2DGridTemplate.h.

◆ readFromStream()

void mrpt::poses::CPosePDFGrid::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ saveToTextFile()

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 >.

◆ setSize()

void mrpt::poses::CPose2DGridTemplate< double >::setSize ( double  xMin,
double  xMax,
double  yMin,
double  yMax,
double  resolutionXY,
double  resolutionPhi,
double  phiMin = -M_PIf,
double  phiMax = M_PIf 
)
inlineinherited

Changes the limits and size of the grid, erasing previous contents:

Definition at line 126 of file CPose2DGridTemplate.h.

◆ uniformDistribution()

void mrpt::poses::CPosePDFGrid::uniformDistribution ( )

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

◆ writeToStream()

void mrpt::poses::CPosePDFGrid::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

◆ x2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::x2idx ( double  x) const
inlineinherited

Returns "indexes" from coordinates:

Definition at line 49 of file CPose2DGridTemplate.h.

◆ y2idx()

size_t mrpt::poses::CPose2DGridTemplate< double >::y2idx ( double  y) const
inlineinherited

Returns "indexes" from coordinates:

Definition at line 58 of file CPose2DGridTemplate.h.

Member Data Documentation

◆ _init_CPosePDFGrid

mrpt::utils::CLASSINIT mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid
staticprotected

Definition at line 33 of file CPosePDFGrid.h.

◆ classCPosePDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF
staticinherited

Definition at line 41 of file CPosePDF.h.

◆ classCPosePDFGrid

mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDFGrid::classCPosePDFGrid
static

Definition at line 33 of file CPosePDFGrid.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFGrid::classinfo
static

Definition at line 33 of file CPosePDFGrid.h.

◆ m_data

std::vector<double > mrpt::poses::CPose2DGridTemplate< double >::m_data
protectedinherited

The data:

Definition at line 44 of file CPose2DGridTemplate.h.

◆ m_idxLeftPhi

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftPhi
protectedinherited

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_idxLeftX

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftX
protectedinherited

The indexes of the "left" borders:

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_idxLeftY

int mrpt::poses::CPose2DGridTemplate< double >::m_idxLeftY
protectedinherited

Definition at line 40 of file CPose2DGridTemplate.h.

◆ m_phiMax

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMax
protectedinherited

Definition at line 31 of file CPose2DGridTemplate.h.

◆ m_phiMin

double mrpt::poses::CPose2DGridTemplate< double >::m_phiMin
protectedinherited

Definition at line 31 of file CPose2DGridTemplate.h.

◆ m_resolutionPhi

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionPhi
protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_resolutionXY

double mrpt::poses::CPose2DGridTemplate< double >::m_resolutionXY
protectedinherited

Definition at line 32 of file CPose2DGridTemplate.h.

◆ m_sizePhi

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizePhi
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_sizeX

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeX
protectedinherited

The size of "m_data" is m_sizeX * m_sizeY * m_sizePhi.

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_sizeXY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeXY
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_sizeY

size_t mrpt::poses::CPose2DGridTemplate< double >::m_sizeY
protectedinherited

Definition at line 36 of file CPose2DGridTemplate.h.

◆ m_xMax

double mrpt::poses::CPose2DGridTemplate< double >::m_xMax
protectedinherited

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_xMin

double mrpt::poses::CPose2DGridTemplate< double >::m_xMin
protectedinherited

The limits and resolution of the grid:

Definition at line 29 of file CPose2DGridTemplate.h.

◆ m_yMax

double mrpt::poses::CPose2DGridTemplate< double >::m_yMax
protectedinherited

Definition at line 30 of file CPose2DGridTemplate.h.

◆ m_yMin

double mrpt::poses::CPose2DGridTemplate< double >::m_yMin
protectedinherited

Definition at line 30 of file CPose2DGridTemplate.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose2D , STATE_LEN >::state_length
staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 31 of file CProbabilityDensityFunction.h.




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