#include <mrpt/poses/CPointPDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode:. More... | |
Public Types | |
typedef std::deque< TGaussianMode > | CListGaussianModes |
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 TGaussianMode & | operator[] (size_t i) const |
Access to individual beacons. | |
TGaussianMode & | operator[] (size_t i) |
Access to individual beacons. | |
const TGaussianMode & | get (size_t i) const |
Access to individual beacons. | |
TGaussianMode & | get (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:
| |
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. |
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPointPDFSOG::m_modes
See mrpt::poses::CPointPDF for more details.
Definition at line 57 of file CPointPDFSOG.h.
typedef std::deque<TGaussianMode> mrpt::poses::CPointPDFSOG::CListGaussianModes |
Definition at line 78 of file CPointPDFSOG.h.
typedef std::deque<TGaussianMode>::const_iterator mrpt::poses::CPointPDFSOG::const_iterator |
Definition at line 79 of file CPointPDFSOG.h.
typedef std::deque<TGaussianMode>::iterator mrpt::poses::CPointPDFSOG::iterator |
Definition at line 80 of file CPointPDFSOG.h.
mrpt::poses::CPointPDFSOG::CPointPDFSOG | ( | size_t | nModes = 1 |
) |
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!).
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] |
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.
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] |
const TGaussianMode& mrpt::poses::CPointPDFSOG::get | ( | size_t | i | ) | const [inline] |
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.
void mrpt::poses::CPointPDFSOG::getMean | ( | CPoint3D & | mean_point | ) | const |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
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] |
const TGaussianMode& mrpt::poses::CPointPDFSOG::operator[] | ( | size_t | i | ) | const [inline] |
void mrpt::poses::CPointPDFSOG::push_back | ( | const TGaussianMode & | m | ) | [inline] |
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:
Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.
size_t mrpt::poses::CPointPDFSOG::size | ( | ) | const [inline] |
CListGaussianModes mrpt::poses::CPointPDFSOG::m_modes [protected] |
Page generated by Doxygen 1.5.9 for MRPT 0.7.1 SVN: at Mon Aug 17 22:21:34 EDT 2009 |