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mrpt::poses::CPointPDFSOG Class Reference

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

#include <mrpt/poses/CPointPDFSOG.h>

Inheritance diagram for mrpt::poses::CPointPDFSOG:

mrpt::poses::CPointPDF mrpt::utils::CSerializable mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >

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 getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
 Returns a 3D object representation of all the ellipses in the SoG.
void drawSingleSample (CPoint3D &outSample) const
 Draw a sample from the pdf.
void bayesianFusion (CPointPDF &p1, 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.


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 57 of file CPointPDFSOG.h.


Member Typedef Documentation

Definition at line 78 of file CPointPDFSOG.h.

Definition at line 79 of file CPointPDFSOG.h.

Definition at line 80 of file CPointPDFSOG.h.


Constructor & Destructor Documentation

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

Default constructor.

Parameters:
nModes The initial size of CPointPDFSOG::m_modes


Member Function Documentation

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 ( CPointPDF p1,
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:
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::CPointPDF.

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

Definition at line 127 of file CPointPDFSOG.h.

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

Definition at line 125 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.

void mrpt::poses::CPointPDFSOG::drawSingleSample ( CPoint3D outSample  )  const

Draw a sample from the pdf.

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

Return whether there is any Gaussian mode.

Definition at line 134 of file CPointPDFSOG.h.

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

Definition at line 128 of file CPointPDFSOG.h.

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

Definition at line 126 of file CPointPDFSOG.h.

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

Definition at line 130 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).

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

Access to individual beacons.

Definition at line 115 of file CPointPDFSOG.h.

References ASSERT_.

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

Access to individual beacons.

Definition at line 110 of file CPointPDFSOG.h.

References ASSERT_.

void mrpt::poses::CPointPDFSOG::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj  )  const

Returns a 3D object representation of all the ellipses in the SoG.

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

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

See also:
getCovariance

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).

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 104 of file CPointPDFSOG.h.

References ASSERT_.

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

Access to individual beacons.

Definition at line 99 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 121 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 133 of file CPointPDFSOG.h.


Member Data Documentation

The list of SOG modes.

Definition at line 88 of file CPointPDFSOG.h.




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