A gaussian distribution for 2D points.
Also a method for bayesian fusion is provided.
Definition at line 24 of file CPoint2DPDFGaussian.h.
#include <mrpt/poses/CPoint2DPDFGaussian.h>
Public Types | |
enum | { is_3D_val = 0 } |
enum | { is_PDF_val = 1 } |
typedef CPoint2D | type_value |
The type of the state the PDF represents. More... | |
typedef CProbabilityDensityFunction< CPoint2D, STATE_LEN > | self_t |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CPoint2DPDFGaussian () | |
Default constructor. More... | |
CPoint2DPDFGaussian (const CPoint2D &init_Mean) | |
Constructor. More... | |
CPoint2DPDFGaussian (const CPoint2D &init_Mean, const mrpt::math::CMatrixDouble22 &init_Cov) | |
Constructor. More... | |
void | getMean (CPoint2D &p) const MRPT_OVERRIDE |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble22 &out_cov, CPoint2D &mean_point) const MRPT_OVERRIDE |
Returns an estimate of the point covariance matrix (2x2 cov matrix) and the mean, both at once. More... | |
void | copyFrom (const CPoint2DPDF &o) MRPT_OVERRIDE |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | saveToTextFile (const std::string &file) const MRPT_OVERRIDE |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE |
this = p (+) this. More... | |
void | bayesianFusion (const CPoint2DPDFGaussian &p1, const CPoint2DPDFGaussian &p2) |
Bayesian fusion of two points gauss. More... | |
double | productIntegralWith (const CPoint2DPDFGaussian &p) const |
Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More... | |
double | productIntegralNormalizedWith (const CPoint2DPDFGaussian &p) const |
Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More... | |
void | drawSingleSample (CPoint2D &outSample) const MRPT_OVERRIDE |
Draw a sample from the pdf. More... | |
void | bayesianFusion (const CPoint2DPDF &p1, const CPoint2DPDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE |
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!) More... | |
double | mahalanobisDistanceTo (const CPoint2DPDFGaussian &other) const |
Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0) More... | |
double | mahalanobisDistanceToPoint (const double x, const double y) const |
Returns the Mahalanobis distance from this PDF to some point. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
virtual void | getMean (CPoint2D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint2D &mean_point) const=0 |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint2D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPoint2D | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
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) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
virtual bool | isInfType () const |
Returns whether the class instance holds the uncertainty in covariance or information form. More... | |
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. More... | |
virtual void | drawSingleSample (CPoint2D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
virtual void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
CPoint2D | mean |
The mean value. More... | |
mrpt::math::CMatrixDouble22 | cov |
The 2x2 covariance matrix. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
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). More... | |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCPoint2DPDF |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
RTTI stuff | |
typedef CPoint2DPDFGaussianPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPoint2DPDFGaussian |
static mrpt::utils::TRuntimeClassId | classCPoint2DPDFGaussian |
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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPoint2DPDFGaussianPtr | Create () |
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inherited |
Definition at line 33 of file CProbabilityDensityFunction.h.
typedef CPoint2DPDFGaussianPtr mrpt::poses::CPoint2DPDFGaussian::SmartPtr |
A typedef for the associated smart pointer
Definition at line 27 of file CPoint2DPDFGaussian.h.
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inherited |
The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
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Enumerator | |
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is_3D_val |
Definition at line 51 of file CPoint2DPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 53 of file CPoint2DPDF.h.
mrpt::poses::CPoint2DPDFGaussian::CPoint2DPDFGaussian | ( | ) |
Default constructor.
mrpt::poses::CPoint2DPDFGaussian::CPoint2DPDFGaussian | ( | const CPoint2D & | init_Mean | ) |
Constructor.
mrpt::poses::CPoint2DPDFGaussian::CPoint2DPDFGaussian | ( | const CPoint2D & | init_Mean, |
const mrpt::math::CMatrixDouble22 & | init_Cov | ||
) |
Constructor.
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staticprotected |
void mrpt::poses::CPoint2DPDFGaussian::bayesianFusion | ( | const CPoint2DPDFGaussian & | p1, |
const CPoint2DPDFGaussian & | p2 | ||
) |
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 );
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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!)
p1 | The first distribution to fuse |
p2 | The second distribution to fuse |
minMahalanobisDistToDrop | If 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::CPoint2DPDF.
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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. Both the mean value and the covariance matrix are updated correctly.
Implements mrpt::utils::CProbabilityDensityFunction< CPoint2D, 2 >.
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inlineinherited |
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Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPoint2DPDF.
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static |
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inlinevirtualinherited |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.
Definition at line 125 of file CProbabilityDensityFunction.h.
void mrpt::poses::CPoint2DPDFGaussian::drawSingleSample | ( | CPoint2D & | outSample | ) | const |
Draw a sample from the pdf.
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pure virtualinherited |
Draws a single sample from the distribution.
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 68 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 77 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 86 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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inline |
Returns an estimate of the point covariance matrix (2x2 cov matrix) and the mean, both at once.
Definition at line 43 of file CPoint2DPDFGaussian.h.
References mrpt::math::cov(), mrpt::poses::DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(), mean(), MRPT_OVERRIDE, saveToTextFile(), and exprtk::details::x().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 48 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 144 of file CProbabilityDensityFunction.h.
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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.
Definition at line 106 of file CProbabilityDensityFunction.h.
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inline |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)
Definition at line 38 of file CPoint2DPDFGaussian.h.
References mean().
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 58 of file CProbabilityDensityFunction.h.
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPoint2DPDF.
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inlinestaticinherited |
Definition at line 52 of file CPoint2DPDF.h.
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inlinestaticinherited |
Definition at line 54 of file CPoint2DPDF.h.
References mrpt::poses::DEFINE_SERIALIZABLE_POST_CUSTOM_BASE().
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Definition at line 100 of file CProbabilityDensityFunction.h.
double mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo | ( | const CPoint2DPDFGaussian & | other | ) | const |
Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0)
double mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceToPoint | ( | const double | x, |
const double | y | ||
) | const |
Returns the Mahalanobis distance from this PDF to some point.
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inline |
Definition at line 27 of file CPoint2DPDFGaussian.h.
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inline |
Definition at line 27 of file CPoint2DPDFGaussian.h.
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Definition at line 27 of file CPoint2DPDFGaussian.h.
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Definition at line 27 of file CPoint2DPDFGaussian.h.
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Definition at line 27 of file CPoint2DPDFGaussian.h.
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inlinestatic |
Definition at line 27 of file CPoint2DPDFGaussian.h.
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Definition at line 27 of file CPoint2DPDFGaussian.h.
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inline |
Definition at line 27 of file CPoint2DPDFGaussian.h.
double mrpt::poses::CPoint2DPDFGaussian::productIntegralNormalizedWith | ( | const CPoint2DPDFGaussian & | p | ) | const |
Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.
The resulting number is in the range [0,1]. Note that the resulting value is in fact
, with being the square Mahalanobis distance between the two pdfs.
std::exception | On errors like covariance matrix with null determinant, etc... |
double mrpt::poses::CPoint2DPDFGaussian::productIntegralWith | ( | const CPoint2DPDFGaussian & | p | ) | const |
Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.
The resulting number is >=0.
std::exception | On errors like covariance matrix with null determinant, etc... |
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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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< CPoint2D, 2 >.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 27 of file CPoint2DPDFGaussian.h.
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staticinherited |
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staticinherited |
Definition at line 37 of file CPoint2DPDF.h.
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Definition at line 27 of file CPoint2DPDFGaussian.h.
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Definition at line 42 of file CSerializable.h.
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Definition at line 27 of file CPoint2DPDFGaussian.h.
mrpt::math::CMatrixDouble22 mrpt::poses::CPoint2DPDFGaussian::cov |
The 2x2 covariance matrix.
Definition at line 35 of file CPoint2DPDFGaussian.h.
CPoint2D mrpt::poses::CPoint2DPDFGaussian::mean |
The mean value.
Definition at line 34 of file CPoint2DPDFGaussian.h.
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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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