#include <mrpt/utils/CProbabilityDensityFunction.h>
Public Types | |
typedef TDATA | type_value |
The type of the state the PDF represents. | |
Public Member Functions | |
virtual void | getMean (TDATA &mean_point) const =0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
virtual void | getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &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 (CMatrixDouble &cov, TDATA &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
TDATA | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
void | getCovariance (CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix). | |
void | getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix). | |
CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix). | |
virtual void | saveToTextFile (const std::string &file) const =0 |
Save PDF's particles to a text file. | |
virtual void | drawSingleSample (TDATA &outPart) const =0 |
Draws a single sample from the distribution. | |
virtual 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 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. | |
virtual void | changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0 |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. | |
MRPT_DECLARE_DEPRECATED_FUNCTION ("**deprecated** Use getCovariance instead", CMatrixD getEstimatedCovariance() const ) | |
Returns an estimate of the covariance matrix. | |
Static Public Attributes | |
static const size_t | state_length = STATE_LEN |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). |
This template is used as base for many classes in mrpt::poses Any derived class must implement "getMean" and "getCovarianceAndMean". Other methods such as "getCovariance" are implemented here for convenience.
Definition at line 48 of file CProbabilityDensityFunction.h.
typedef TDATA mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::type_value |
The type of the state the PDF represents.
Definition at line 52 of file CProbabilityDensityFunction.h.
virtual void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::changeCoordinatesReference | ( | const mrpt::poses::CPose3D & | newReferenceBase | ) | [pure 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.
Implemented in mrpt::slam::CBeacon, mrpt::poses::CPoint2DPDFGaussian, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
virtual void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::drawManySamples | ( | size_t | N, | |
std::vector< vector_double > & | outSamples | |||
) | const [inline, virtual] |
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.
Reimplemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
Definition at line 124 of file CProbabilityDensityFunction.h.
virtual void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::drawSingleSample | ( | TDATA & | outPart | ) | const [pure virtual] |
Draws a single sample from the distribution.
Referenced by mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::drawManySamples().
CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance | ( | ) | const [inline] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix).
Definition at line 105 of file CProbabilityDensityFunction.h.
Referenced by mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::getCovarianceEntropy(), and mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::MRPT_DECLARE_DEPRECATED_FUNCTION().
void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | cov | ) | const [inline] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix).
Definition at line 96 of file CProbabilityDensityFunction.h.
void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance | ( | CMatrixDouble & | cov | ) | const [inline] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix).
Definition at line 87 of file CProbabilityDensityFunction.h.
virtual void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | cov, | |
TDATA & | mean_point | |||
) | const [pure virtual] |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Referenced by mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::getCovariance(), and mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::getCovarianceDynAndMean().
void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean | ( | CMatrixDouble & | cov, | |
TDATA & | mean_point | |||
) | const [inline] |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 67 of file CProbabilityDensityFunction.h.
Referenced by mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::getCovariance().
double mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceEntropy | ( | ) | const [inline] |
Compute the entropy of the estimated covariance matrix.
Definition at line 143 of file CProbabilityDensityFunction.h.
virtual void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean | ( | TDATA & | mean_point | ) | const [pure virtual] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Referenced by mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >::getMeanVal().
TDATA mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal | ( | ) | const [inline] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 77 of file CProbabilityDensityFunction.h.
mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::MRPT_DECLARE_DEPRECATED_FUNCTION | ( | "**deprecated** Use getCovariance instead" | , | |
CMatrixD getEstimatedCovariance() | const | |||
) | [inline] |
Returns an estimate of the covariance matrix.
Definition at line 152 of file CProbabilityDensityFunction.h.
virtual void mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::saveToTextFile | ( | const std::string & | file | ) | const [pure virtual] |
Save PDF's particles to a text file.
See derived classes for more information about the format of generated files.
Implemented in mrpt::slam::CBeacon, mrpt::poses::CPoint2DPDFGaussian, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
const size_t mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::state_length = STATE_LEN [static] |
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 51 of file CProbabilityDensityFunction.h.
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