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mrpt::poses::CPose3DPDFGaussianInf Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $ as a Gaussian described by its mean and its inverse covariance matrix.

This class implements that PDF using a mono-modal Gaussian distribution in "information" form (inverse covariance matrix).

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the method "CPose3DPDFGaussianInf::operator+=".

For further details on implemented methods and the theory behind them, see this report.

See also
CPose3D, CPose3DPDF, CPose3DPDFParticles, CPose3DPDFGaussian

Definition at line 38 of file CPose3DPDFGaussianInf.h.

#include <mrpt/poses/CPose3DPDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPose3DPDFGaussianInf:
Inheritance graph

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3D type_value
 The type of the state the PDF represents.
 

Public Member Functions

const CPose3DgetPoseMean () const
 
CPose3DgetPoseMean ()
 
 CPose3DPDFGaussianInf ()
 Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean)
 Constructor with a mean value, inverse covariance=all zeros -> so be careful!
 
 CPose3DPDFGaussianInf (TConstructorFlags_Poses constructor_dummy_param)
 Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.
 
 CPose3DPDFGaussianInf (const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_CovInv)
 Constructor with mean and inv cov.
 
 CPose3DPDFGaussianInf (const CPose3DQuatPDFGaussian &o)
 Constructor from a 6D pose PDF described as a Quaternion.
 
void getMean (CPose3D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
 
virtual void getInformationMatrix (mrpt::math::CMatrixDouble66 &inf) const MRPT_OVERRIDE
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
 
void copyFrom (const CPose3DPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations)
 
void copyFrom (const CPosePDF &o)
 Copy operator, translating if necesary (for example, between particles and gaussian representations)
 
void copyFrom (const CPose3DQuatPDFGaussian &o)
 Copy from a 6D pose PDF described as a Quaternion.
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this.
 
void drawSingleSample (CPose3D &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution.
 
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 1x6 vectors, where each row contains a (x,y,phi) datum.
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE
 Bayesian fusion of two points gauss.
 
void inverse (CPose3DPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
 
CPose3DPDFGaussianInf operator- () const
 Unary - operator, returns the PDF of the inverse pose.
 
void operator+= (const CPose3D &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated)
 
void operator+= (const CPose3DPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated)
 
void operator-= (const CPose3DPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
 
double evaluatePDF (const CPose3D &x) const
 Evaluates the PDF at a given point.
 
double evaluateNormalizedPDF (const CPose3D &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
 
void getInvCovSubmatrix2D (mrpt::math::CMatrixDouble &out_cov) const
 Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,y,yaw) only.
 
double mahalanobisDistanceTo (const CPose3DPDFGaussianInf &theOther)
 Computes the Mahalanobis distance between the centers of two Gaussians.
 
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 (CPose3D &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, CPose3D &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, CPose3D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
 
CPose3D 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 (CPose3D &outPart) const=0
 Draws a single sample from the distribution.
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix.
 

Static Public Member Functions

static CPose3DPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.
 
static void jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
 This static method computes the pose composition Jacobians.
 
static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

Data fields


CPose3D mean
 The mean value.
 
mrpt::math::CMatrixDouble66 cov_inv
 The inverse of the 6x6 covariance matrix.
 

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 classCPose3DPDF
 

Protected Member Functions

void assureSymmetry ()
 Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef CPose3DPDFGaussianInfPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFGaussianInf
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFGaussianInf
 
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 CPose3DPDFGaussianInfPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 41 of file CPose3DPDFGaussianInf.h.

◆ type_value

typedef CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , 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 CPose3DPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFGaussianInf() [1/5]

mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( )

Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!

◆ CPose3DPDFGaussianInf() [2/5]

mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3D init_Mean)
explicit

Constructor with a mean value, inverse covariance=all zeros -> so be careful!

◆ CPose3DPDFGaussianInf() [3/5]

mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( TConstructorFlags_Poses  constructor_dummy_param)

Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.

◆ CPose3DPDFGaussianInf() [4/5]

mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3D init_Mean,
const mrpt::math::CMatrixDouble66 init_CovInv 
)

Constructor with mean and inv cov.

◆ CPose3DPDFGaussianInf() [5/5]

mrpt::poses::CPose3DPDFGaussianInf::CPose3DPDFGaussianInf ( const CPose3DQuatPDFGaussian o)
explicit

Constructor from a 6D pose PDF described as a Quaternion.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DPDFGaussianInf::_GetBaseClass ( )
staticprotected

◆ assureSymmetry()

void mrpt::poses::CPose3DPDFGaussianInf::assureSymmetry ( )
protected

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

◆ bayesianFusion()

void mrpt::poses::CPose3DPDFGaussianInf::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
virtual

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

  • (x1,S1): Mean and variance of the p1 distribution.
  • (x2,S2): Mean and variance of the p2 distribution.
  • (x,S): Mean and variance of the resulting distribution.

S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );

Implements mrpt::poses::CPose3DPDF.

◆ changeCoordinatesReference()

void mrpt::poses::CPose3DPDFGaussianInf::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< CPose3D, 6 >.

◆ copyFrom() [1/3]

void mrpt::poses::CPose3DPDFGaussianInf::copyFrom ( const CPose3DPDF o)
virtual

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

Implements mrpt::poses::CPose3DPDF.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().

◆ copyFrom() [2/3]

void mrpt::poses::CPose3DPDFGaussianInf::copyFrom ( const CPose3DQuatPDFGaussian o)

Copy from a 6D pose PDF described as a Quaternion.

◆ copyFrom() [3/3]

void mrpt::poses::CPose3DPDFGaussianInf::copyFrom ( const CPosePDF o)

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

◆ Create()

static CPose3DPDFGaussianInfPtr mrpt::poses::CPose3DPDFGaussianInf::Create ( )
static

◆ createFrom2D()

static CPose3DPDF * mrpt::poses::CPose3DPDF::createFrom2D ( const CPosePDF o)
staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.

This object must be deleted by the user when not required anymore.

See also
copyFrom

◆ CreateObject()

static mrpt::utils::CObject * mrpt::poses::CPose3DPDFGaussianInf::CreateObject ( )
static

◆ drawManySamples()

void mrpt::poses::CPose3DPDFGaussianInf::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 1x6 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ drawSingleSample() [1/2]

void mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample ( CPose3D outPart) const

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::poses::CPose3DPDFGaussianInf::duplicate ( ) const
virtual

◆ evaluateNormalizedPDF()

double mrpt::poses::CPose3DPDFGaussianInf::evaluateNormalizedPDF ( const CPose3D x) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

◆ evaluatePDF()

double mrpt::poses::CPose3DPDFGaussianInf::evaluatePDF ( const CPose3D x) const

Evaluates the PDF at a given point.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 CPose3DPDF.h.

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DPDF::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 CPose3DPDF.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > mrpt::utils::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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::CPose3DPDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const
inline

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also
getMean

Definition at line 83 of file CPose3DPDFGaussianInf.h.

References mean().

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3D &  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< CPose3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose3D &  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< CPose3D , 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() [1/2]

virtual void mrpt::poses::CPose3DPDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble66 inf) const
inlinevirtual

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)

See also
getMean, getCovarianceAndMean

Definition at line 89 of file CPose3DPDFGaussianInf.h.

◆ getInformationMatrix() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

◆ getInvCovSubmatrix2D()

void mrpt::poses::CPose3DPDFGaussianInf::getInvCovSubmatrix2D ( mrpt::math::CMatrixDouble out_cov) const

Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,y,yaw) only.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( CPose3D &  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::CPose3DPDFGaussianInf::getMean ( CPose3D mean_pose) const
inline

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

See also
getCovariance

Definition at line 77 of file CPose3DPDFGaussianInf.h.

References mean().

◆ getMeanVal()

CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

◆ getPoseMean() [1/2]

CPose3D & mrpt::poses::CPose3DPDFGaussianInf::getPoseMean ( )
inline

Definition at line 58 of file CPose3DPDFGaussianInf.h.

References mean().

◆ getPoseMean() [2/2]

const CPose3D & mrpt::poses::CPose3DPDFGaussianInf::getPoseMean ( ) const
inline

Definition at line 57 of file CPose3DPDFGaussianInf.h.

References mean().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DPDFGaussianInf::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::poses::CPose3DPDF.

◆ inverse()

void mrpt::poses::CPose3DPDFGaussianInf::inverse ( CPose3DPDF o) const
virtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPose3DPDF.

◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )
inlinestaticinherited

Definition at line 92 of file CPose3DPDF.h.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )
inlinestaticinherited

Definition at line 94 of file CPose3DPDF.h.

◆ jacobiansPoseComposition()

static void mrpt::poses::CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
mrpt::math::CMatrixDouble66 df_dx,
mrpt::math::CMatrixDouble66 df_du 
)
staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D) U(6D)
| |
v v
X(7D) U(7D)
| |
+--- (+) ---+
|
v
RES(7D)
|
v
RES(6D)

Referenced by mrpt::math::jacobians::jacobs_6D_pose_comp().

◆ mahalanobisDistanceTo()

double mrpt::poses::CPose3DPDFGaussianInf::mahalanobisDistanceTo ( const CPose3DPDFGaussianInf theOther)

Computes the Mahalanobis distance between the centers of two Gaussians.

The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.

◆ operator+=() [1/2]

void mrpt::poses::CPose3DPDFGaussianInf::operator+= ( const CPose3D Ap)

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

◆ operator+=() [2/2]

void mrpt::poses::CPose3DPDFGaussianInf::operator+= ( const CPose3DPDFGaussianInf Ap)

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

◆ operator-()

CPose3DPDFGaussianInf mrpt::poses::CPose3DPDFGaussianInf::operator- ( ) const
inline

Unary - operator, returns the PDF of the inverse pose.


Definition at line 129 of file CPose3DPDFGaussianInf.h.

References mrpt::poses::UNINITIALIZED_POSE.

◆ operator-=()

void mrpt::poses::CPose3DPDFGaussianInf::operator-= ( const CPose3DPDFGaussianInf Ap)

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

◆ readFromStream()

void mrpt::poses::CPose3DPDFGaussianInf::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ saveToTextFile()

void mrpt::poses::CPose3DPDFGaussianInf::saveToTextFile ( const std::string &  file) const
virtual

Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ writeToStream()

void mrpt::poses::CPose3DPDFGaussianInf::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CPose3DPDFGaussianInf

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFGaussianInf::_init_CPose3DPDFGaussianInf
staticprotected

Definition at line 41 of file CPose3DPDFGaussianInf.h.

◆ classCPose3DPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF
staticinherited

Definition at line 42 of file CPose3DPDF.h.

◆ classCPose3DPDFGaussianInf

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFGaussianInf::classCPose3DPDFGaussianInf
static

Definition at line 41 of file CPose3DPDFGaussianInf.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFGaussianInf::classinfo
static

Definition at line 41 of file CPose3DPDFGaussianInf.h.

◆ cov_inv

mrpt::math::CMatrixDouble66 mrpt::poses::CPose3DPDFGaussianInf::cov_inv

◆ mean

CPose3D mrpt::poses::CPose3DPDFGaussianInf::mean

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , 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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